From 0c4d93b2ccb30f44c28a83edb930ac2a4e89b9cb Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Tue, 6 Aug 2019 17:34:00 +0200
Subject: [PATCH] reference config : Joints HAA are at 0 (adjust height of
root)
---
src/hpp/corbaserver/rbprm/anymal/robot.py | 10 +++++-----
1 file changed, 5 insertions(+), 5 deletions(-)
diff --git a/src/hpp/corbaserver/rbprm/anymal/robot.py b/src/hpp/corbaserver/rbprm/anymal/robot.py
index a61a3aa..806aa4e 100644
--- a/src/hpp/corbaserver/rbprm/anymal/robot.py
+++ b/src/hpp/corbaserver/rbprm/anymal/robot.py
@@ -46,11 +46,11 @@ class Robot (Parent):
rhand = 'RH_ADAPTER_TO_FOOT'
- referenceConfig =[0.,0.,0.457, 0.,0.,0.,1., # FF
- 0.04, 0.611, -1.0452,
- 0.04, -0.853, 1.0847,
- -0.04, 0.74, -1.08,
- -0.04, -0.74, 1.08,
+ referenceConfig =[0.,0.,0.462, 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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