Commit a4ff23ce authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[fullbody] reduce root z value in reference configuration to match ground at z=0

parent 439a4e9c
......@@ -48,7 +48,7 @@ class Robot (Parent):
lhand = 'arm_left_7_joint'
referenceConfig = [
0.0, 0.0, 1.0232773, 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, 0.0, -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
......@@ -57,7 +57,7 @@ class Robot (Parent):
0., 0.];
referenceConfig_legsApart =[
0.0, 0.0, 1.0232773, 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, 0.058292, #Right Leg
0.0 , 0.006761, #Chest
......@@ -66,7 +66,7 @@ class Robot (Parent):
0., 0.]
referenceConfig_armsFront =[
0.0, 0.0, 1.0232773, 0 , 0.0, 0.0, 1.0, #Free flyer
0.0, 0.0, 1.02127, 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
......
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