rafaelcaricio/Open_Duck_Mini_Runtime
1
0
Fork 0
mirror of https://github.com/apirrone/Open_Duck_Mini_Runtime.git synced 2025-09-01 02:33:56 +00:00
Code Issues Projects Releases Packages Wiki Activity Actions

offsets

Browse source
This commit is contained in:
apirrone 2025-04-08 11:42:11 +02:00
parent 571f24c2c3
commit 9755c43fe0
1 changed files with 30 additions and 14 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

44
mini_bdx_runtime/mini_bdx_runtime/rustypot_position_hwi.py
View file

@ -84,21 +84,37 @@ class HWI:
# "right_knee": -0.027999999999999997,
# "right_ankle": -0.09799999999999999,
# }
# self.joints_offsets = {
# "left_hip_yaw": 0.14,
# "left_hip_roll": -0.05,
# "left_hip_pitch": -0.011,
# "left_knee": 0.0,
# "left_ankle": -0.107,
# "neck_pitch": 0.061,
# "head_pitch": 0.108,
# "head_yaw": -0.08399999999999999,
# "head_roll": 0.063,
# "right_hip_yaw": -0.131,
# "right_hip_roll": 0.089,
# "right_hip_pitch": 0.06799999999999999,
# "right_knee": 0.002,
# "right_ankle": -0.093,
# }
self.joints_offsets = {
"left_hip_yaw": 0.14,
"left_hip_roll": -0.05,
"left_hip_pitch": -0.011,
"left_knee": 0.0,
"left_ankle": -0.107,
"neck_pitch": 0.061,
"head_pitch": 0.108,
"head_yaw": -0.08399999999999999,
"head_roll": 0.063,
"right_hip_yaw": -0.131,
"right_hip_roll": 0.089,
"right_hip_pitch": 0.06799999999999999,
"right_knee": 0.002,
"right_ankle": -0.093,
"left_hip_yaw" : 0.082,
"left_hip_roll" : -0.089,
"left_hip_pitch" : -0.004,
"left_knee" : 0.077,
"left_ankle" : -0.1,
"neck_pitch" : 0.057,
"head_pitch" : 0.069,
"head_yaw" : -0.101,
"head_roll" : 0.08,
"right_hip_yaw" : -0.166,
"right_hip_roll" : 0.115,
"right_hip_pitch" : 0.089,
"right_knee" : -0.098,
"right_ankle" : -0.125
}
init_pos_with_offsets = {