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Humanoid Path Planner
anymal-rbprm
Commits
0c4d93b2
Commit
0c4d93b2
authored
Aug 06, 2019
by
Pierre Fernbach
Browse files
reference config : Joints HAA are at 0 (adjust height of root)
parent
82b1cf7a
Changes
1
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src/hpp/corbaserver/rbprm/anymal/robot.py
View file @
0c4d93b2
...
...
@@ -46,11 +46,11 @@ class Robot (Parent):
rhand
=
'RH_ADAPTER_TO_FOOT'
referenceConfig
=
[
0.
,
0.
,
0.4
57
,
0.
,
0.
,
0.
,
1.
,
# FF
0.0
4
,
0.611
,
-
1.0452
,
0.0
4
,
-
0.853
,
1.0847
,
-
0.0
4
,
0.74
,
-
1.08
,
-
0.0
4
,
-
0.74
,
1.08
,
referenceConfig
=
[
0.
,
0.
,
0.4
62
,
0.
,
0.
,
0.
,
1.
,
# FF
0.0
,
0.611
,
-
1.0452
,
0.0
,
-
0.853
,
1.0847
,
-
0.0
,
0.74
,
-
1.08
,
-
0.0
,
-
0.74
,
1.08
,
]
postureWeights
=
[
0
,
0
,
0
,
0
,
0
,
0
,
#FF
...
...
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