diff --git a/cmake b/cmake index ee7a773c5c23f83dd21eb0ccfa96277e068b0456..fb9ee969c8119a24fd280e2fcd7f81c31704e8f2 160000 --- a/cmake +++ b/cmake @@ -1 +1 @@ -Subproject commit ee7a773c5c23f83dd21eb0ccfa96277e068b0456 +Subproject commit fb9ee969c8119a24fd280e2fcd7f81c31704e8f2 diff --git a/robots/cassie_description/srdf/cassie_v2.srdf b/robots/cassie_description/srdf/cassie_v2.srdf index 6bfd1518cf3778dabd2f880249886f8d5a8e2c84..22c20e5051c44e64d179822add6babe5716a75b6 100644 --- a/robots/cassie_description/srdf/cassie_v2.srdf +++ b/robots/cassie_description/srdf/cassie_v2.srdf @@ -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>