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Feature/increase zero position ankles #589

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Feature/increase zero position ankles #589

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9e0a785
Release: v0.2.0 (#442)
Olavhaasie Jan 28, 2020
c344203
Merge branch 'master' into release/v0.3.0
Mar 15, 2020
b4b7cec
Merge branch 'develop' into release/v0.3.0
Mar 15, 2020
c91f88e
Merge pull request #495 from project-march/release/v0.3.0
Roelemans Mar 18, 2020
c554ba0
Merge branch 'develop'
Jun 1, 2020
e631bb1
Merge branch 'develop'
Jun 1, 2020
3853d20
Merge branch 'develop'
Olavhaasie Aug 28, 2020
8dc0d5d
increase zero position ankles by 4 degrees
Roelemans Oct 29, 2020
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8 changes: 4 additions & 4 deletions march_description/urdf/march4.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -185,11 +185,11 @@
<xacro:property name="knee_effort_limit" value="${max_effort_rotary}"/> <!-- IU -->
<xacro:property name="knee_velocity_limit" value="2.5"/>

<xacro:property name="left_ankle_rotation_lower_limit" value="${-26.30401611*pi/180}"/>
<xacro:property name="left_ankle_rotation_upper_limit" value="${15.88348389*pi/180}"/>
<xacro:property name="left_ankle_rotation_lower_limit" value="${-30.30401611*pi/180}"/>
<xacro:property name="left_ankle_rotation_upper_limit" value="${11.88348389*pi/180}"/>

<xacro:property name="right_ankle_rotation_lower_limit" value="${-23.203125*pi/180}"/>
<xacro:property name="right_ankle_rotation_upper_limit" value="${14.23828125*pi/180}"/>
<xacro:property name="right_ankle_rotation_lower_limit" value="${-27.203125*pi/180}"/>
<xacro:property name="right_ankle_rotation_upper_limit" value="${10.23828125*pi/180}"/>

<xacro:property name="ankle_dorsalflexion_soft_buffer" value="${5*pi/180}"/> <!-- rad -->
<xacro:property name="ankle_plantarflexion_soft_buffer" value="${3*pi/180}"/> <!-- rad -->
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