Skip to content
Snippets Groups Projects
Unverified Commit 1a894c3d authored by Justin Carpentier's avatar Justin Carpentier Committed by GitHub
Browse files

Merge pull request #106 from proyan/devel 

cassie/srdf: update q0 config: pelvis orientation
parents d6a254a7 87cd3530
No related branches found
No related tags found
No related merge requests found
Pipeline #16781 passed
Stage: test
Hide whitespace changes
Inline Side-by-side
cmake @ fb9ee969
Compare ee7a773c...fb9ee969
Subproject commit ee7a773c5c23f83dd21eb0ccfa96277e068b0456
Subproject commit fb9ee969c8119a24fd280e2fcd7f81c31704e8f2
robots/cassie_description/srdf/cassie_v2.srdf
+ 23
− 23
View file @ 1a894c3d
......@@ -28,28 +28,28 @@
</group>
<group_state name="standing" group="whole_body">
<joint name="root_joint" value="-8.84376603e-04 2.01947521e-05 1.03234704e+00 3.76613677e-04 8.54066138e-02 -1.18694658e-05 9.96346109e-01" />
<joint name="left-roll-op" value="-1.04031254e-03" />
<joint name="left-yaw-op" value="1.68090673e-04" />
<joint name="left-pitch-op" value="7.41104603e-01" />
<joint name="left-knee-op" value="-2.71448998e-02" />
<joint name="left-knee-shin-joint" value="-3.90872643e-01" />
<joint name="left-shin-tarsus-joint" value="2.09080249e-01" />
<joint name="left-tarsus-spring-joint" value="4.68025202e-01" />
<joint name="left-achilles-spring-joint" value="-6.79067787e-01" />
<joint name="left-tarsus-crank-joint" value="-1.46111523e+00" />
<joint name="left-crank-rod-joint" value="1.46110617e+00" />
<joint name="left-foot-op" value="-1.46114565e+00" />
<joint name="right-roll-op" value="-1.04086943e-03" />
<joint name="right-yaw-op" value="-1.69133207e-04" />
<joint name="right-pitch-op" value="7.42278082e-01" />
<joint name="right-knee-op" value="-2.83885130e-02" />
<joint name="right-knee-shin-joint" value="-3.91207267e-01" />
<joint name="right-shin-tarsus-joint" value="2.09642093e-01" />
<joint name="right-tarsus-spring-joint" value="4.69313644e-01" />
<joint name="right-achilles-spring-joint"value="-6.80943430e-01" />
<joint name="right-tarsus-crank-joint" value="-1.48154922e+00" />
<joint name="right-crank-rod-joint" value="1.48470113e+00" />
<joint name="right-foot-op" value="-1.46130274e+00" />
<joint name="root_joint" value="-0.00992617 -0.00004808 1.02458068 0.0 0.0 0.0 1.0" />
<joint name="left-roll-op" value="-0.00513955" />
<joint name="left-yaw-op" value="0.00459357" />
<joint name="left-pitch-op" value="0.59575303" />
<joint name="left-knee-op" value="0.03162615" />
<joint name="left-knee-shin-joint" value="-0.51390881" />
<joint name="left-shin-tarsus-joint" value="0.25810122" />
<joint name="left-tarsus-spring-joint" value="0.53679290" />
<joint name="left-achilles-spring-joint" value="-0.79073525" />
<joint name="left-tarsus-crank-joint" value="-1.44545535" />
<joint name="left-crank-rod-joint" value="1.44544632" />
<joint name="left-foot-op" value="-1.44548599" />
<joint name="right-roll-op" value="0.00529991" />
<joint name="right-yaw-op" value=" 0.00443722" />
<joint name="right-pitch-op" value="0.59614815" />
<joint name="right-knee-op" value="0.03053357" />
<joint name="right-knee-shin-joint" value="-0.51316503" />
<joint name="right-shin-tarsus-joint" value="0.25804492" />
<joint name="right-tarsus-spring-joint" value="0.53716726" />
<joint name="right-achilles-spring-joint"value="-0.79113522" />
<joint name="right-tarsus-crank-joint" value="-1.46635249" />
<joint name="right-crank-rod-joint" value="1.46950485" />
<joint name="right-foot-op" value="-1.44610592" />
</group_state>
</robot>
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment