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Commit 87cd3530 authored by Rohan Budhiraja's avatar Rohan Budhiraja
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[cassie_v2][srdf] straighten pelvis orientation for default config

parent 9f04ef93
Pipeline #16536 passed with stage
in 2 minutes and 55 seconds
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robots/cassie_description/srdf/cassie_v2.srdf
View file @ 87cd3530
......@@ -28,28 +28,28 @@
</group>
<group_state name="standing" group="whole_body">
<joint name="root_joint" value="-8.84376603e-04 2.01947521e-05 1.02084704 0.0 0.0 0.0 1.0" />
<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="-1.62711523e+00" />
<joint name="left-crank-rod-joint" value="1.61010617e+00" />
<joint name="left-foot-op" value="-1.62714565e+00" />
<joint name="right-roll-op" value="-1.04031254e-03" />
<joint name="right-yaw-op" value="1.68090673e-04" />
<joint name="right-pitch-op" value="7.41104603e-01" />
<joint name="right-knee-op" value="-2.71448998e-02" />
<joint name="right-knee-shin-joint" value="-3.90872643e-01" />
<joint name="right-shin-tarsus-joint" value="2.09080249e-01" />
<joint name="right-tarsus-spring-joint" value="4.68025202e-01" />
<joint name="right-achilles-spring-joint"value="-6.79067787e-01" />
<joint name="right-tarsus-crank-joint" value="-1.62711523e+00" />
<joint name="right-crank-rod-joint" value="1.63010617e+00" />
<joint name="right-foot-op" value="-1.62714565e+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>
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