Commit 39b660dd authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

fix quaternion convention and small changes in reference configurations for armsFront and legsSide

parent 820d178c
......@@ -66,7 +66,7 @@ class Robot (Parent):
0., 0.]
referenceConfig_armsFront =[
0.0, 0.0, 1.0232773, 1 , 0.0, 0.0, 0.0, #Free flyer
0.0, 0.0, 1.0232773, 0 , 0.0, 0.0, 1.0, #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
......@@ -75,12 +75,12 @@ class Robot (Parent):
0., 0.]
referenceConfig_legsSide=[
0.0, 0.0, 0.9832773, 1, 0.0, 0.0, 0.0, #Free flyer
0, 0, 0.9832773, 0, 0.0, 0.0, 1.0, #Free flyer
1.57, 0.0, -0.611354, 1.059395, -0.448041,-0.001708, #Left Leg
-1.57, 0.0, -0.611354, 1.059395, -0.448041, -0.001708, #Right Leg
0.0, 0.006761, #Chest
-0.5,0.173046, -0.0002, -0.525366, 0.0, -0.0, 0.1, -0.005, #Left Arm
0.5, -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, #Left Arm
-0.25847 , -0.173046, 0.0002 , -0.525366, 0.0, 0.0, 0.1,-0.005,#Right Arm
0.0, 0.0]
postureWeights = [0,0,0,0,0,0,# freeflyer
......
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