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init pos

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apirrone 2025-08-01 11:30:42 +02:00
parent 47486650fc
commit 60b178fa36
1 changed files with 12 additions and 12 deletions
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24
mini_bdx_runtime/mini_bdx_runtime/rustypot_position_hwi.py
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@ -50,22 +50,22 @@ class HWI:
}
self.init_pos = {
"left_hip_yaw": 0.002,
"left_hip_roll": 0.053,
"left_hip_pitch": -0.63,
"left_knee": 1.368,
"left_ankle": -0.784,
"neck_pitch": 0.0,
"head_pitch": 0.0,
"left_hip_yaw": 0.0,
"left_hip_roll": 0.09081,
"left_hip_pitch": -0.50983,
"left_knee": 1.13089,
"left_ankle": -0.62104,
"neck_pitch": 0.05236,
"head_pitch": -0.05236,
"head_yaw": 0,
"head_roll": 0,
# "left_antenna": 0,
# "right_antenna": 0,
"right_hip_yaw": -0.003,
"right_hip_roll": -0.065,
"right_hip_pitch": 0.635,
"right_knee": 1.379,
"right_ankle": -0.796,
"right_hip_yaw": 0.0,
"right_hip_roll": -0.09081,
"right_hip_pitch": 0.50983,
"right_knee": 1.13089,
"right_ankle": -0.62104,
}
self.joints_offsets = self.duck_config.joints_offset