Commit 84acebcf authored by Carlos Mastalli's avatar Carlos Mastalli
Browse files

[icub] Rotate the robot + fixed the leg names

parent 58548b83
......@@ -8,7 +8,7 @@
<joint name="l_knee" />
<joint name="l_ankle_pitch" />
<joint name="l_ankle_roll" />
<chain base_link="chest" tip_link="l_foot_ft_sensor" />
<chain base_link="chest" tip_link="l_foot_dh_frame_fixed_joint" />
</group>
<group name="r_leg">
<joint name="r_hip_pitch" />
......@@ -17,7 +17,8 @@
<joint name="r_knee" />
<joint name="r_ankle_pitch" />
<joint name="r_ankle_roll" />
<chain base_link="chest" tip_link="r_foot_ft_sensor" /> </group>
<chain base_link="chest" tip_link="r_foot_dh_frame_fixed_joint" />
</group>
<group name="l_arm">
<joint name="l_shoulder_pitch" />
<joint name="l_shoulder_roll" />
......@@ -71,7 +72,7 @@
<end_effector name="left_eef" parent_link="wrist_left_ft_tool_link" group="l_hand_dh_frame_fixed_joint" parent_group="left_arm" />
<group_state name="half_sitting" group="all">
<joint name="root_joint" value="0. 0. 0.60 0. 0. 0. 1." />
<joint name="root_joint" value="0. 0. 0.60 0. 0. 1. 0." />
<!-- legs -->
<joint name="l_hip_pitch" value="0." />
<joint name="l_hip_roll" value="0." />
......
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