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Add custom positions for balancing on single half foot #600

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merged 1 commit into from
Dec 16, 2023
Merged

Add custom positions for balancing on single half foot #600

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89 changes: 89 additions & 0 deletions ergoCubSN001/custom_positions.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -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