Merge pull request #137 from lrapetti/fix/iCub2_5_feet-size

Fix/i cub2 5 feet size
robotology · Dec 9, 2021 · 6c354c3 · 6c354c3
2 parents 32f4499 + ea7ab15
commit 6c354c3
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Showing 7 changed files with 14 additions and 14 deletions.
diff --git a/...ingBaseBalancingTorqueControlWithSimulator/app/robots/iCubGazeboV2_5/configStateMachine.m b/...ingBaseBalancingTorqueControlWithSimulator/app/robots/iCubGazeboV2_5/configStateMachine.m
@@ -152,8 +152,8 @@
 fZmin                        = 10;
 
 % physical size of the foot                             
-feet_size                    = [-0.07  0.12 ;    % xMin, xMax
-                                -0.045 0.05 ];   % yMin, yMax  
+feet_size                    = [-0.07  0.12  ;    % xMin, xMax
+                                -0.045 0.045 ];   % yMin, yMax  
 
 % Compute contact constraints (friction cone, unilateral constraints)
 [ConstraintsMatrix, bVectorConstraints] = wbc.computeRigidContactConstraints ...

diff --git a/...ers/floating-base-balancing-torque-control/app/robots/iCubGazeboV2_5/configStateMachine.m b/...ers/floating-base-balancing-torque-control/app/robots/iCubGazeboV2_5/configStateMachine.m
@@ -152,8 +152,8 @@
 fZmin                        = 10;
 
 % physical size of the foot                             
-feet_size                    = [-0.07  0.12 ;    % xMin, xMax
-                                -0.045 0.05 ];   % yMin, yMax  
+feet_size                    = [-0.07  0.12  ;    % xMin, xMax
+                                -0.045 0.045 ];   % yMin, yMax  
 
 % Compute contact constraints (friction cone, unilateral constraints)
 [ConstraintsMatrix, bVectorConstraints] = wbc.computeRigidContactConstraints ...

diff --git a/...llers/floating-base-balancing-torque-control/app/robots/iCubGenova02/configStateMachine.m b/...llers/floating-base-balancing-torque-control/app/robots/iCubGenova02/configStateMachine.m
@@ -152,8 +152,8 @@
 fZmin                        = 10;
 
 % physical size of the foot                             
-feet_size                    = [-0.07  0.12 ;    % xMin, xMax
-                                -0.045 0.05 ];   % yMin, yMax  
+feet_size                    = [-0.07  0.12  ;    % xMin, xMax
+                                -0.045 0.045 ];   % yMin, yMax  
 
 % Compute contact constraints (friction cone, unilateral constraints)
 [ConstraintsMatrix, bVectorConstraints] = wbc.computeRigidContactConstraints ...

diff --git a/...llers/floating-base-balancing-torque-control/app/robots/iCubGenova04/configStateMachine.m b/...llers/floating-base-balancing-torque-control/app/robots/iCubGenova04/configStateMachine.m
@@ -152,8 +152,8 @@
 fZmin                        = 10;
 
 % physical size of the foot                             
-feet_size                    = [-0.07  0.12 ;    % xMin, xMax
-                                -0.045 0.05 ];   % yMin, yMax  
+feet_size                    = [-0.07  0.12  ;    % xMin, xMax
+                                -0.045 0.045 ];   % yMin, yMax  
 
 % Compute contact constraints (friction cone, unilateral constraints)
 [ConstraintsMatrix, bVectorConstraints] = wbc.computeRigidContactConstraints ...

diff --git a/controllers/floating-base-jerk-control/app/robots/iCubGazeboV2_5/initStateMachineYoga.m b/controllers/floating-base-jerk-control/app/robots/iCubGazeboV2_5/initStateMachineYoga.m
@@ -520,5 +520,5 @@
 Config.fZmin                        = 10;
 
 % physical size of the foot                             
-Config.feet_size                    = [-0.07  0.12;    % xMin, xMax
-                                       -0.045 0.05];   % yMin, yMax  
+Config.feet_size                    = [-0.07  0.12 ;    % xMin, xMax
+                                       -0.045 0.045];   % yMin, yMax
diff --git a/controllers/floating-base-jerk-control/app/robots/iCubGenova04/initStateMachineYoga.m b/controllers/floating-base-jerk-control/app/robots/iCubGenova04/initStateMachineYoga.m
@@ -525,5 +525,5 @@
 Config.fZmin                        = 10;
 
 % physical size of the foot                             
-Config.feet_size                    = [-0.07  0.12 ;    % xMin, xMax
-                                       -0.045 0.05 ];   % yMin, yMax  
+Config.feet_size                    = [-0.07  0.12  ;    % xMin, xMax
+                                       -0.045 0.045 ];   % yMin, yMax
diff --git a/controllers/simulink-balancing-simulator/app/robots/iCubGazeboV2_5/configStateMachine.m b/controllers/simulink-balancing-simulator/app/robots/iCubGazeboV2_5/configStateMachine.m
@@ -152,8 +152,8 @@
 fZmin                        = 10;
 
 % physical size of the foot                             
-feet_size                    = [-0.07  0.12 ;    % xMin, xMax
-                                -0.045 0.05 ];   % yMin, yMax  
+feet_size                    = [-0.07  0.12  ;    % xMin, xMax
+                                -0.045 0.045 ];   % yMin, yMax  
 
 % Compute contact constraints (friction cone, unilateral constraints)
 [ConstraintsMatrix, bVectorConstraints] = wbc.computeRigidContactConstraints ...