Commit 924990c1 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

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

parent e200c73a
......@@ -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)
......
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