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apirrone 2025-08-05 18:09:53 +02:00
parent ba9e83170b
commit 6c514ed945
2 changed files with 10 additions and 28 deletions
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38
mini_bdx_runtime/mini_bdx_runtime/rustypot_position_hwi.py
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@ -49,41 +49,23 @@ class HWI:
"right_ankle": 0, "right_ankle": 0,
} }
# 0.00476
# 0.09061
# -0.60255
# 1.14938
# -0.59941
# 0.05236
# -0.05236
# 0.00000
# 0.00000
# -0.00476
# -0.09061
# 0.60255
# 1.14938
# -0.59941
self.init_pos = { self.init_pos = {
"left_hip_yaw": 0.00476, "left_hip_yaw": 0.00318,
"left_hip_roll": 0.09061, "left_hip_roll": 0.09067,
"left_hip_pitch": -0.60255, "left_hip_pitch": -0.57109,
"left_knee": 1.14938, "left_knee": 1.14231,
"left_ankle": -0.59941, "left_ankle": -0.60626,
"neck_pitch": 0.05236, "neck_pitch": 0.05236,
"head_pitch": 0.05236, "head_pitch": 0.05236,
"head_yaw": 0.00000, "head_yaw": 0.00000,
"head_roll": 0.00000, "head_roll": 0.00000,
# "left_antenna": 0, # "left_antenna": 0,
# "right_antenna": 0, # "right_antenna": 0,
"right_hip_yaw": 0.00476, "right_hip_yaw": 0.00318,
"right_hip_roll": -0.09061, "right_hip_roll": -0.09067,
"right_hip_pitch": 0.60255, "right_hip_pitch": 0.57109,
"right_knee": 1.14938, "right_knee": 1.14231,
"right_ankle": -0.59941, "right_ankle": -0.60626,
} }
self.joints_offsets = self.duck_config.joints_offset self.joints_offsets = self.duck_config.joints_offset

BIN
scripts/polynomial_coefficients.pkl
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