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apirrone 2025-08-05 17:16:16 +02:00
parent 5a388c7719
commit ba9e83170b
2 changed files with 31 additions and 13 deletions
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44
mini_bdx_runtime/mini_bdx_runtime/rustypot_position_hwi.py
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@ -49,23 +49,41 @@ class HWI:
"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 = {
"left_hip_yaw": 0.00466,
"left_hip_roll": 0.08862,
"left_hip_pitch": -0.56751,
"left_knee": 1.08359,
"left_ankle": -0.56863,
"left_hip_yaw": 0.00476,
"left_hip_roll": 0.09061,
"left_hip_pitch": -0.60255,
"left_knee": 1.14938,
"left_ankle": -0.59941,
"neck_pitch": 0.05236,
"head_pitch": -0.05237,
"head_yaw": -0.00000,
"head_roll": -0.00000,
"head_pitch": 0.05236,
"head_yaw": 0.00000,
"head_roll": 0.00000,
# "left_antenna": 0,
# "right_antenna": 0,
"right_hip_yaw": 0.00466,
"right_hip_roll": -0.08862,
"right_hip_pitch": 0.56751,
"right_knee": 1.08359,
"right_ankle": -0.56863,
"right_hip_yaw": 0.00476,
"right_hip_roll": -0.09061,
"right_hip_pitch": 0.60255,
"right_knee": 1.14938,
"right_ankle": -0.59941,
}
self.joints_offsets = self.duck_config.joints_offset

BIN
scripts/polynomial_coefficients.pkl
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