From 01904aa1d63ad0ad62960b37de2c806a3129c907 Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@gmail.com>
Date: Fri, 19 Apr 2019 00:02:05 +0200
Subject: [PATCH] [icub] These values are used by ICub guys
---
icub_description/srdf/icub.srdf | 22 +++++++++++-----------
1 file changed, 11 insertions(+), 11 deletions(-)
diff --git a/icub_description/srdf/icub.srdf b/icub_description/srdf/icub.srdf
index 583311c..9797a07 100644
--- a/icub_description/srdf/icub.srdf
+++ b/icub_description/srdf/icub.srdf
@@ -85,18 +85,18 @@
<group_state name="half_sitting" group="all">
<joint name="root_joint" value="0. 0. 0.60 0. 0. 1. 0." />
<!-- legs -->
- <joint name="l_hip_pitch" value="0.15" />
- <joint name="l_hip_roll" value="0." />
+ <joint name="l_hip_pitch" value="0.20944" />
+ <joint name="l_hip_roll" value="0.08727" />
<joint name="l_hip_yaw" value="0." />
- <joint name="l_knee" value="-0.15" />
- <joint name="l_ankle_pitch" value="0." />
- <joint name="l_ankle_roll" value="0." />
- <joint name="r_hip_pitch" value="0.15" />
- <joint name="r_hip_roll" value="0." />
+ <joint name="l_knee" value="-0.1745" />
+ <joint name="l_ankle_pitch" value="-0.0279" />
+ <joint name="l_ankle_roll" value="-0.08726" />
+ <joint name="r_hip_pitch" value="0.20944" />
+ <joint name="r_hip_roll" value="0.08727" />
<joint name="r_hip_yaw" value="0." />
- <joint name="r_knee" value="-0.15" />
- <joint name="r_ankle_pitch" value="0." />
- <joint name="r_ankle_roll" value="0." />
+ <joint name="r_knee" value="-0.1745" />
+ <joint name="r_ankle_pitch" value="-0.0279" />
+ <joint name="r_ankle_roll" value="-0.08726" />
<!-- arms -->
<joint name="l_shoulder_pitch" value="0." />
<joint name="l_shoulder_roll" value="0.35" />
@@ -115,7 +115,7 @@
<!-- torso -->
<joint name="torso_pitch" value="0." />
<joint name="torso_roll" value="0." />
- <joint name="torso_yaw" value="0." />
+ <joint name="torso_yaw" value="-0.05236" />
<!-- neck -->
<joint name="neck_pitch" value="0." />
<joint name="neck_roll" value="0." />
--
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