In prologue, set robot bounds (position, velocity and effort)

src/dynamic_graph/sot/talos/talos.py

@@ -106,6 +106,18 @@ class Talos(AbstractHumanoidRobot):
         self.device = device
 
         self.device.resize(self.dynamic.getDimension())
+        # TODO For position limit, we remove the first value to get
+        # a vector of the good size because SoT use euler angles and not
+        # quaternions...
+        self.device.setPositionBounds (
+                self.pinocchioModel.lowerPositionLimit.T.tolist()[0][1:],
+                self.pinocchioModel.upperPositionLimit.T.tolist()[0][1:])
+        self.device.setVelocityBounds (
+                (-self.pinocchioModel.velocityLimit).T.tolist()[0],
+                  self.pinocchioModel.velocityLimit .T.tolist()[0])
+        self.device.setTorqueBounds (
+                (-self.pinocchioModel.effortLimit).T.tolist()[0],
+                  self.pinocchioModel.effortLimit .T.tolist()[0])
         self.halfSitting = initialConfig
         self.device.set(self.halfSitting)
         plug(self.device.state, self.dynamic.position)