add ref_height and default_com_height (!7) · Merge requests · Humanoid Path Planner / talos-rbprm · GitLab

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Guilhem Saurel requested to merge github/fork/pFernbach/master into master Sep 20, 2019

Created by: pFernbach

Add two new members in Robot class :

In rbprmBuilder : ref_height default root z value, with floor at z=0
In fullBody : DEFAULT_COM_HEIGHT z value of the com position in reference configuration, with floor at z=0

Other changes :

Slightly change the rleg_rom height to be symetric with the left one
Reduce the max distance between the feet in the 'relative_constraints' : from 0.35 to 0.32
referenceConfig_elbowsUp : lift more the arms and turn them toward the torso