From 63d6200efbe69d61e7e1ad846bbabeb7ddf436f9 Mon Sep 17 00:00:00 2001
From: Sergim96 <sergi.saya96@gmail.com>
Date: Sun, 4 Dec 2022 17:24:40 +0000
Subject: [PATCH] go1 update standing pose
---
robots/go1_description/srdf/go1.srdf | 9 +++++----
1 file changed, 5 insertions(+), 4 deletions(-)
diff --git a/robots/go1_description/srdf/go1.srdf b/robots/go1_description/srdf/go1.srdf
index cc54771..0f50819 100644
--- a/robots/go1_description/srdf/go1.srdf
+++ b/robots/go1_description/srdf/go1.srdf
@@ -76,18 +76,19 @@
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="standing" group="whole_body">
+ <joint name="root_joint" value="0. 0. 0.26 0. 0. 0. 1."/>
<joint name="FL_calf_joint" value="-1.853"/>
<joint name="FL_hip_joint" value="0"/>
- <joint name="FL_thigh_joint" value="0"/>
+ <joint name="FL_thigh_joint" value="0.8"/>
<joint name="FR_calf_joint" value="-1.853"/>
<joint name="FR_hip_joint" value="0"/>
- <joint name="FR_thigh_joint" value="0"/>
+ <joint name="FR_thigh_joint" value="0.8"/>
<joint name="RL_calf_joint" value="-1.853"/>
<joint name="RL_hip_joint" value="0"/>
- <joint name="RL_thigh_joint" value="0"/>
+ <joint name="RL_thigh_joint" value="0.8"/>
<joint name="RR_calf_joint" value="-1.853"/>
<joint name="RR_hip_joint" value="0"/>
- <joint name="RR_thigh_joint" value="0"/>
+ <joint name="RR_thigh_joint" value="0.8"/>
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="lf_foot" parent_link="FL_foot" group="lf_leg"/>
--
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