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add ref_height and default_com_height

Guilhem Saurel requested to merge github/fork/pFernbach/master into master

Created by: pFernbach

Add two new members in Robot class :

  • In rbprmBuilder : ref_height default root z value, with floor at z=0
  • In fullBody : DEFAULT_COM_HEIGHT z value of the com position in reference configuration, with floor at z=0

Other changes :

  • Slightly change the rleg_rom height to be symetric with the left one
  • Reduce the max distance between the feet in the 'relative_constraints' : from 0.35 to 0.32
  • referenceConfig_elbowsUp : lift more the arms and turn them toward the torso

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