cassie/srdf: q0 update

robots/cassie_description/srdf/cassie_v2.srdf

@@ -28,7 +28,7 @@
   </group>
 
   <group_state name="standing" group="whole_body">
-    <joint name="root_joint"                 value="-8.84376603e-04  2.01947521e-05  1.03234704e+00  3.76613677e-04 8.54066138e-02 -1.18694658e-05  9.96346109e-01" />
+    <joint name="root_joint"                 value="-8.84376603e-04 2.01947521e-05 1.02084704 0.0 0.0 0.0 1.0" />
     <joint name="left-roll-op"               value="-1.04031254e-03" />
     <joint name="left-yaw-op"                value="1.68090673e-04" />
     <joint name="left-pitch-op"              value="7.41104603e-01" />
@@ -37,19 +37,19 @@
     <joint name="left-shin-tarsus-joint"     value="2.09080249e-01" />
     <joint name="left-tarsus-spring-joint"   value="4.68025202e-01" />
     <joint name="left-achilles-spring-joint" value="-6.79067787e-01" />
-    <joint name="left-tarsus-crank-joint"    value="-1.46111523e+00" />
-    <joint name="left-crank-rod-joint"       value="1.46110617e+00" />
-    <joint name="left-foot-op"               value="-1.46114565e+00" />
-    <joint name="right-roll-op"              value="-1.04086943e-03" />
-    <joint name="right-yaw-op"               value="-1.69133207e-04" />         
-    <joint name="right-pitch-op"             value="7.42278082e-01" />     
-    <joint name="right-knee-op"              value="-2.83885130e-02" /> 
-    <joint name="right-knee-shin-joint"      value="-3.91207267e-01" />
-    <joint name="right-shin-tarsus-joint"    value="2.09642093e-01" />
-    <joint name="right-tarsus-spring-joint"  value="4.69313644e-01" />
-    <joint name="right-achilles-spring-joint"value="-6.80943430e-01" />
-    <joint name="right-tarsus-crank-joint"   value="-1.48154922e+00" />
-    <joint name="right-crank-rod-joint"      value="1.48470113e+00" />
-    <joint name="right-foot-op"              value="-1.46130274e+00" />
+    <joint name="left-tarsus-crank-joint"    value="-1.62711523e+00" />
+    <joint name="left-crank-rod-joint"       value="1.61010617e+00" />
+    <joint name="left-foot-op"               value="-1.62714565e+00" />
+    <joint name="right-roll-op"              value="-1.04031254e-03" />
+    <joint name="right-yaw-op"               value="1.68090673e-04" />         
+    <joint name="right-pitch-op"             value="7.41104603e-01" />     
+    <joint name="right-knee-op"              value="-2.71448998e-02" /> 
+    <joint name="right-knee-shin-joint"      value="-3.90872643e-01" />
+    <joint name="right-shin-tarsus-joint"    value="2.09080249e-01" />
+    <joint name="right-tarsus-spring-joint"  value="4.68025202e-01" />
+    <joint name="right-achilles-spring-joint"value="-6.79067787e-01" />
+    <joint name="right-tarsus-crank-joint"   value="-1.62711523e+00" />
+    <joint name="right-crank-rod-joint"      value="1.63010617e+00" />
+    <joint name="right-foot-op"              value="-1.62714565e+00" />
   </group_state>
 </robot>