From 41f5c65d3b747973bca76e093a44ed6c4ce512c7 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Sat, 19 Feb 2011 14:22:17 +0100
Subject: [PATCH] Set height of freeflyer so that feet are on the ground.
---
src/dynamic_graph/sot/dynamics/hrp2.py.in | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/dynamic_graph/sot/dynamics/hrp2.py.in b/src/dynamic_graph/sot/dynamics/hrp2.py.in
index 00eec67..77ae843 100755
--- a/src/dynamic_graph/sot/dynamics/hrp2.py.in
+++ b/src/dynamic_graph/sot/dynamics/hrp2.py.in
@@ -61,7 +61,7 @@ class Hrp2Jrl (Hrp2):
"""
halfSitting = (
# Free flyer
- 0., 0., 0., 0., 0. , 0.,
+ 0., 0., 0.648702, 0., 0. , 0.,
# Legs
0., 0., -0.453786, 0.872665, -0.418879, 0.,
@@ -87,7 +87,7 @@ class Hrp2Laas (Hrp2):
"""
halfSitting = (
# Free flyer
- 0., 0., 0., 0., 0. , 0.,
+ 0., 0., 0.648702, 0., 0. , 0.,
# Legs
0., 0., -0.453786, 0.872665, -0.418879, 0.,
--
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