Commit 2f5f02be authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[fullbody] add new referenceConfig with elbows up and new weights vector with...

[fullbody] add new referenceConfig with elbows up and new weights vector with high weights on root rotation
parent a91a57e8
...@@ -56,6 +56,15 @@ class Robot (Parent): ...@@ -56,6 +56,15 @@ class Robot (Parent):
-0.25847 , -0.173046, 0.0002 , -0.525366, 0.0, 0.0, 0.1,-0.005,#Right Arm -0.25847 , -0.173046, 0.0002 , -0.525366, 0.0, 0.0, 0.1,-0.005,#Right Arm
0., 0.]; 0., 0.];
referenceConfig_elbowsUp = [
0.0, 0.0, 1.02127, 0.0 , 0.0, 0.0, 1., #Free flyer
0.0, 0.0, -0.411354, 0.859395, -0.448041, -0.001708, #Left Leg
0.0, 0.0, -0.411354, 0.859395, -0.448041, -0.001708, #Right Leg
0.0 , 0.006761, #Chest
0.25847 , 0.173046, -0.0002, -1.2, 0.0, -0.0, 0.1,-0.005, #Left Arm
-0.25847 , -0.173046, 0.0002 , -1.2, 0.0, 0.0, 0.1,-0.005,#Right Arm
0., 0.]
referenceConfig_legsApart =[ referenceConfig_legsApart =[
0.0, 0.0, 1.02127, 0.0 , 0.0, 0.0, 1., #Free flyer 0.0, 0.0, 1.02127, 0.0 , 0.0, 0.0, 1., #Free flyer
0.0, 0.06, -0.411354, 0.859395, -0.448041, -0.061708, #Left Leg 0.0, 0.06, -0.411354, 0.859395, -0.448041, -0.061708, #Left Leg
...@@ -91,6 +100,9 @@ class Robot (Parent): ...@@ -91,6 +100,9 @@ class Robot (Parent):
50., 10. , 10., 10., 10. , 10. , 10. , 10. , #rarm 50., 10. , 10., 10., 10. , 10. , 10. , 10. , #rarm
100., 100.] 100., 100.]
postureWeightsRootRotationConstrained = postureWeights[::]
postureWeightsRootRotationConstrained[3:5] = [500,500]
postureWeights_straff = [0,0,0,0,0,0,# freeflyer postureWeights_straff = [0,0,0,0,0,0,# freeflyer
100. , 1. , 10. , 10, 1. , 0., #lleg 100. , 1. , 10. , 10, 1. , 0., #lleg
100. , 1. , 10. , 10, 1. , 0., #rleg 100. , 1. , 10. , 10, 1. , 0., #rleg
......
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