From 40a7c7ccfa553ae1ee8b356df0c4dce08b278aa3 Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@laas.fr>
Date: Tue, 19 Feb 2019 14:36:45 +0100
Subject: [PATCH] [hyq] Hard coded referenceConfigurations to match Pinocchio
with SDRF
We need to create a SDRF for HyQ.
---
crocoddyl/robots.py | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/crocoddyl/robots.py b/crocoddyl/robots.py
index 34244b09..e3c971d5 100644
--- a/crocoddyl/robots.py
+++ b/crocoddyl/robots.py
@@ -119,5 +119,7 @@ def loadHyQ(modelPath='examples/hyq_description'):
robot = RobotWrapper.BuildFromURDF(FILENAME+modelPath+URDF_SUBPATH, [modelPath],
pinocchio.JointModelFreeFlyer())
# TODO define default position inside srdf
- robot.q0.flat[7:] = [0., 0.75, -1.5, 0., -0.75, 1.5, 0., 0.75, -1.5, 0., -0.75, 1.5]
+ robot.q0.flat[7:] = [-0.2, 0.75, -1.5, -0.2, -0.75, 1.5, -0.2, 0.75, -1.5, -0.2, -0.75, 1.5]
+ robot.q0[2] = 0.57750958
+ robot.model.referenceConfigurations["half_sitting"] = robot.q0
return robot
\ No newline at end of file
--
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