diff --git a/ergoCubSN001/custom_positions.ini b/ergoCubSN001/custom_positions.ini index a081fa5676..4b10bdf861 100644 --- a/ergoCubSN001/custom_positions.ini +++ b/ergoCubSN001/custom_positions.ini @@ -32,3 +32,92 @@ parts (head torso left_arm right_arm right_leg left_leg) /$robot/right_leg_Velocity 10 10 10 10 10 10 /$robot/left_leg_Position 0 0 0 0 0 0 /$robot/left_leg_Velocity 10 10 10 10 10 10 + +[customPosition_SingleSupportRight] +/$robot/head_Position 0 0 0 0 +/$robot/head_Velocity 10 10 10 10 +/$robot/torso_Position 6.85497 10.708 -0.831098 +/$robot/torso_Velocity 10 10 10 +/$robot/left_arm_Position -2.91135 17.841 -12.6545 39.7457 0.00 0.00 0.00 0 0 0 0 0 0 +/$robot/left_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10 +/$robot/right_arm_Position -2.81931 18.0793 -12.6969 39.7087 0.00 0.00 0.00 0 0 0 0 0 0 +/$robot/right_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10 +/$robot/right_leg_Position 3.73915 -0.126503 0.419082 -37.7386 -22.523 8.02819 +/$robot/right_leg_Velocity 10 10 10 10 10 10 +/$robot/left_leg_Position 7.11018 1.45552 -0.768338 -42.1934 -24.0489 -10.2023 +/$robot/left_leg_Velocity 10 10 10 10 10 10 + + +[customPosition_SingleSupportLeft] +/$robot/head_Position 0 0 0 0 +/$robot/head_Velocity 10 10 10 10 +/$robot/torso_Position -6.85497 10.708 -0.831098 +/$robot/torso_Velocity 10 10 10 +/$robot/left_arm_Position -2.81931 18.0793 -12.6969 39.7087 0.00 0.00 0.00 0 0 0 0 0 0 +/$robot/left_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10 +/$robot/right_arm_Position -2.91135 17.841 -12.6545 39.7457 0.00 0.00 0.00 0 0 0 0 0 0 +/$robot/right_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10 +/$robot/right_leg_Position 7.11018 1.45552 -0.768338 -42.1934 -24.0489 -10.2023 +/$robot/right_leg_Velocity 10 10 10 10 10 10 +/$robot/left_leg_Position 3.73915 -0.126503 0.419082 -37.7386 -22.523 8.02819 +/$robot/left_leg_Velocity 10 10 10 10 10 10 + + +[customPosition_SingleSupportLeftRear] +/$robot/head_Position 0 0 0 0 +/$robot/head_Velocity 10 10 10 10 +/$robot/torso_Position 3.0644 10.7846 -0.0746 +/$robot/torso_Velocity 10 10 10 +/$robot/left_arm_Position -2.7001 18.6152 -12.7549 39.3860 0.00 0.00 0.00 0 0 0 0 0 0 +/$robot/left_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10 +/$robot/right_arm_Position -2.8786 17.8109 -12.6644 39.3409 0.00 0.00 0.00 0 0 0 0 0 0 +/$robot/right_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10 +/$robot/right_leg_Position 8.2115 1.5915 -1.0463 -45.1356 -26.3389 -7.4474 +/$robot/right_leg_Velocity 10 10 10 10 10 10 +/$robot/left_leg_Position 8.8084 -0.6396 0.7477 37.8755 -18.6081 5.6976 +/$robot/left_leg_Velocity 10 10 10 10 10 10 + + +[customPosition_SingleSupportLeftFront] +/$robot/head_Position 0 0 0 0 +/$robot/head_Velocity 10 10 10 10 +/$robot/torso_Position -5.9194 9.2542 1.1148 +/$robot/torso_Velocity 10 10 10 +/$robot/left_arm_Position -3.3139 18.3559 -12.7163 39.6640 0.00 0.00 0.00 0 0 0 0 0 0 +/$robot/left_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10 +/$robot/right_arm_Position -2.9313 17.9427 -12.8949 39.3302 0.00 0.00 0.00 0 0 0 0 0 0 +/$robot/right_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10 +/$robot/right_leg_Position 9.3425 0.3996 0.1466 -43.4850 -24.4811 -7.4353 +/$robot/right_leg_Velocity 10 10 10 10 10 10 +/$robot/left_leg_Position 0.4488 1.2695 -0.5615 -32.394 -25.2128 7.3119 +/$robot/left_leg_Velocity 10 10 10 10 10 10 + + +[customPosition_SingleSupportRightRear] +/$robot/head_Position 0 0 0 0 +/$robot/head_Velocity 10 10 10 10 +/$robot/torso_Position 3.0644 10.7846 -0.0746 +/$robot/torso_Velocity 10 10 10 +/$robot/left_arm_Position -2.8786 17.8109 -12.6644 39.3409 0.00 0.00 0.00 0 0 0 0 0 0 +/$robot/left_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10 +/$robot/right_arm_Position -2.7001 18.6152 -12.7549 39.3860 0.00 0.00 0.00 0 0 0 0 0 0 +/$robot/right_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10 +/$robot/right_leg_Position 8.8084 -0.6396 0.7477 37.8755 -18.6081 5.6976 +/$robot/right_leg_Velocity 10 10 10 10 10 10 +/$robot/left_leg_Position 8.2115 1.5915 -1.0463 -45.1356 -26.3389 -7.4474 +/$robot/left_leg_Velocity 10 10 10 10 10 10 + + +[customPosition_SingleSupportRightFront] +/$robot/head_Position 0 0 0 0 +/$robot/head_Velocity 10 10 10 10 +/$robot/torso_Position -5.9194 9.2542 1.1148 +/$robot/torso_Velocity 10 10 10 +/$robot/left_arm_Position -2.9313 17.9427 -12.8949 39.3302 0.00 0.00 0.00 0 0 0 0 0 0 +/$robot/left_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10 +/$robot/right_arm_Position -3.3139 18.3559 -12.7163 39.6640 0.00 0.00 0.00 0 0 0 0 0 0 +/$robot/right_arm_Velocity 10 10 10 10 10 10 10 10 10 10 10 10 10 +/$robot/right_leg_Position 0.4488 1.2695 -0.5615 -32.394 -25.2128 7.3119 +/$robot/right_leg_Velocity 10 10 10 10 10 10 +/$robot/left_leg_Position 9.3425 0.3996 0.1466 -43.4850 -24.4811 -7.4353 +/$robot/left_leg_Velocity 10 10 10 10 10 10