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trajectories/bend_up/bend_up_config_solution.yaml

@@ -1,7 +1,7 @@
 conditioner: [0, 0]
 domain_sequence: [double_support]
 double_support:
-  T: [1.749999982510899]
+  T: [2.000000019948622]
   contact_bodies: [right_ankle_roll_link, left_ankle_roll_link]
   contact_frames: [right_foot_middle, left_foot_middle]
   joint_order: [left_hip_pitch_joint, left_hip_roll_joint, left_hip_yaw_joint, left_knee_joint,
@@ -11,465 +11,452 @@ double_support:
     left_elbow_joint, right_shoulder_pitch_joint, right_shoulder_roll_joint, right_shoulder_yaw_joint,
     right_elbow_joint]
   left_foot_middle:
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+      waist_yaw_joint: [-8.289179438578768e-20, 4.5221959670261075e-19, -2.5299575813605126e-19,
+        -2.8692530788564736e-19, 4.088189132055404e-19, -9.161281872640171e-20]
+      left_shoulder_pitch_joint: [0.09999999999999998, 0.10000000000000017, 0.09999999999999984,
+        0.1000000000000003, 0.09999999999999992, 0.10000000000000009]
+      left_shoulder_roll_joint: [0.4999999999999997, 0.499999999999999, 0.5000000000000016,
+        0.49999999999999933, 0.5000000000000002, 0.5000000000000002]
+      left_shoulder_yaw_joint: [2.2289266523842298e-20, -1.2099013087466775e-19, 2.9267839907248833e-19,
+        -3.09672773282767e-19, 1.8177726929588658e-19, -2.4710062526615332e-20]
+      left_elbow_joint: [0.7, 0.6999999999999993, 0.7000000000000006, 0.7000000000000004,
+        0.6999999999999993, 0.7000000000000001]
+      right_shoulder_pitch_joint: [0.09999999999999998, 0.10000000000000017, 0.09999999999999984,
+        0.1000000000000003, 0.09999999999999992, 0.10000000000000009]
+      right_shoulder_roll_joint: [-0.4999999999999997, -0.499999999999999, -0.5000000000000016,
+        -0.49999999999999933, -0.5000000000000002, -0.5000000000000002]
+      right_shoulder_yaw_joint: [2.3499721807997217e-20, -1.3776678630692975e-19,
+        3.133449580973228e-19, -3.196784736357507e-19, 1.8415763541389416e-19, -2.5125010066967216e-20]
+      right_elbow_joint: [0.7, 0.6999999999999993, 0.7000000000000006, 0.7000000000000004,
+        0.6999999999999993, 0.7000000000000001]
+      left_hip_roll_joint: [-0.003374089773460975, 0.011211710451123097, -0.011547784969841157,
+        0.0007019268789723607, 0.01092672512144958, 0.008173865736379867]
+      left_hip_pitch_joint: [-2.075018225192264, -2.4961959081681986, 0.8911227216345678,
+        -1.2468565712430888, -0.12172766868754331, -0.30823685166636466]
+      left_hip_yaw_joint: [-0.003859847786227183, -0.010484504294104625, -0.03312729980265958,
+        -0.006412295362783536, 0.007412577752034347, 0.001628923227736575]
+      left_knee_joint: [1.048525664001248, 1.381365889993621, 0.8116812811293724,
+        0.323745704093814, 0.8810615118037649, 0.670747009675116]
+      left_ankle_pitch_joint: [-0.38773739034448435, -0.48941423418137164, -0.5583586991369722,
+        -0.08977676361618885, -0.49868338189959327, -0.3738112399612394]
+      left_ankle_roll_joint: [-0.0028977505768103175, -0.005548650836592286, -0.0011829585770635493,
+        -0.005740251299334502, -0.0012905547994008745, -0.004310913213918647]
+      right_hip_roll_joint: [-0.013287317284839867, 0.0011838088026143983, -0.029782463031907413,
+        -0.014869801364033373, -0.006015689490682876, -0.012735287360089718]
+      right_hip_pitch_joint: [-2.075268433493429, -2.4889707184969123, 0.912850852596854,
+        -1.240222611236645, -0.11773070044980151, -0.30287676398418417]
+      right_hip_yaw_joint: [0.02017281488147789, 0.015684527412775845, -0.020475052763581286,
+        0.014228124940525236, 0.015006156103694457, 0.012589375891668307]
+      right_knee_joint: [1.0488962794370922, 1.3582142017388932, 0.7995470809759286,
+        0.30922277287885064, 0.8653749836198841, 0.6559119256589933]
+      right_ankle_pitch_joint: [-0.3880914373458574, -0.4727637681813225, -0.5695452942552919,
+        -0.08170927910668778, -0.48341622139001134, -0.3618959957387323]
+      right_ankle_roll_joint: [0.0177812713609266, 0.01968199435227461, 0.017807389170320473,
+        0.019449901652558728, 0.01675067333992663, 0.01927805607188146]
     frames:
       pelvis_link:
-        pos_x: [0.05011114156551587, -0.04479804599421329, 0.05815941347238889, -0.01627213551213414,
-          0.016998001216299328, 0.009438750028699271]
-        pos_y: [0.1251887943786652, 0.13921515916782715, 0.1328035125023192, 0.12841139097041165,
-          0.14210422496457797, 0.12277885686975798]
-        pos_z: [0.5784646668328144, 0.8145161975746888, 0.6610538298494251, 0.7641039810076864,
-          0.7128461596106632, 0.7263304564688197]
-        ori_x: [-0.002862016373122235, -0.07196432386506482, 0.09901667836250105,
-          -0.09725753673453347, 0.03619505631018311, -0.00624760479881707]
-        ori_y: [1.5050195461804772, 1.128486290213762, -0.5339053004133499, 0.7718662944125397,
-          -0.16437401075410873, -0.03696493004474957]
-        ori_z: [-0.0019946981824366028, -0.014382073575431979, 0.030969235105695433,
-          0.0013622025627485605, -0.00594973162350748, 0.0043300382675118985]
+        pos_x: [0.010173664076865705, 0.009420639008153412, 0.01050331885376188, 0.009565715603574224,
+          0.009190071085127748, 0.011208587744064557]
+        pos_y: [0.13092984990803744, 0.1311174170315623, 0.13542342856521253, 0.13235922518507803,
+          0.1339342529272129, 0.13364106515183075]
+        pos_z: [0.5760715675363627, 0.5110648355447583, 0.8844969581785276, 0.6676829466327296,
+          0.7344741256114202, 0.7247747356376368]
+        ori_x: [0.0028556730698371265, -0.04758674769091555, 0.017122740390230717,
+          -0.014715790946475446, -0.007320548632623042, -0.007261351682822298]
+        ori_y: [1.4187137363707774, 1.6092577633867884, -1.1384714403073366, 1.0186094833316715,
+          -0.2601147002763422, 0.01319613073197346]
+        ori_z: [0.003033634443384914, -0.05814484465037456, 0.06981320699585163, -0.01173257070514298,
+          -0.00630486433168031, -0.0028398385496112787]
       left_ankle_roll_link:
-        pos_x: [-0.0008523466260861404, -0.023265409911308006, 0.015614698923966408,
-          -0.01677891256016655, 0.005393260781727729, -0.0028885845071419097]
-        pos_y: [0.2531371779483529, 0.24339413225210899, 0.25838773164583395, 0.24464529825798306,
-          0.2517791616502166, 0.24993970502380694]
-        pos_z: [0.0008425898683237001, 0.021923166358715038, -0.001681415298455868,
-          0.020722234173855922, 0.0034108593478020216, 0.01096729614479655]
-        ori_x: [-0.0011215004614022256, -0.00863277035027834, 0.0010336756384746364,
-          -0.01171881906336735, -0.0013904071746400164, -0.0020870786141033407]
-        ori_y: [-0.00422659348381358, 0.02447301746800764, -0.020702636476918276,
-          0.025359820761535094, -0.00405121866133407, 0.005361822114471391]
-        ori_z: [0.004779700630437494, 0.005012642089318388, -0.0036321254077210288,
-          0.01129271651219026, 0.004162208607993586, 0.0038363022545171515]
+        pos_x: [-0.00031699965527451476, 0.0043949849153922475, -0.010224839027076046,
+          -0.0056312663350704265, 0.0017596771660694554, -0.0009118122201494478]
+        pos_y: [0.2501608522277346, 0.2506229518588905, 0.2490490270390247, 0.25186643999094704,
+          0.2486522739666635, 0.2506581894059782]
+        pos_z: [0.00023463213783140777, -0.006687983201936338, 0.023534735963833098,
+          0.0019465920886428914, 0.006931108438456197, 0.004060601955446803]
+        ori_x: [-0.001206564008626965, -0.002693313047247615, -0.004165940182736127,
+          -0.00691312288293562, -0.004188752078613348, -0.005060093551374296]
+        ori_y: [0.004465918471085388, 0.005337736040227985, 0.005493908263782321,
+          0.005894276563472616, 0.0005415957113093197, 0.0019087276572315698]
+        ori_z: [-0.0048346325885504455, -0.006473627114101875, 0.00018936571627035416,
+          -0.0030894993579378676, 0.003979112425701172, 0.0022139342610919314]
       right_ankle_roll_link:
-        pos_x: [-0.0008310816537533329, -0.02520488902320324, 0.017735819444235926,
-          -0.02006985347861575, 0.006165955628837646, -0.0026486562981075015]
-        pos_y: [-0.00028939625436979604, -0.006085240383660984, 0.008668907507567668,
-          -0.005064772798917557, 0.0016922126348763865, -7.101541397714934e-05]
-        pos_z: [0.000892936462229247, 0.022900721205616804, -0.00314883077542601,
-          0.021819761455402664, 0.002949621848153198, 0.010994781023085227]
-        ori_x: [-0.0018962544338203382, -0.012066735164577513, 0.004080857117116772,
-          -0.011452126096276681, -0.0034441334440535997, -0.003280097897035893]
-        ori_y: [-0.004285960174645741, 0.02505216728607924, -0.02089536979240547,
-          0.025201382378822135, -0.003915105436906084, 0.005343950635414473]
-        ori_z: [0.0050256100911400875, 0.0036581456093313083, 0.008481449190405409,
-          -0.0012495029909995927, 0.0023687967442820334, -0.0009500611786175734]
+        pos_x: [-0.0002681165400683605, 0.004776181704466735, -0.010955484558532562,
+          -0.0049467770813002064, 0.0017017317162553434, -0.000765743770810557]
+        pos_y: [2.9170874999185575e-05, 0.00013550664661756643, -0.0008034847102336389,
+          -0.00016204389821157175, 0.0008401326236158807, -0.0005393449566990208]
+        pos_z: [0.00025073710120364535, -0.007152703308817266, 0.02486828768683886,
+          0.0018001857956553536, 0.007399725408376787, 0.004419712052921982]
+        ori_x: [-0.0050527103163846955, -0.004316638525375421, -0.005461274224994083,
+          -0.004926048018354702, -0.004966147306449774, -0.005006972545557888]
+        ori_y: [0.004403445275776793, 0.0061856851630056504, 0.0035958497363874314,
+          0.006214257356995703, 0.00429881210496125, 0.004500635266722204]
+        ori_z: [0.003880670314676744, -0.0013858067822195572, 0.0044383242710607325,
+          0.01019348415743947, 0.0009279730695060567, 0.0025123057360579744]
       right_wrist_yaw_link:
-        pos_x: [0.06598698970421854, 0.03996071136200635, 0.24586121962529733, 0.05603522250186651,
-          0.15032548685141747, 0.12693417102216223]
-        pos_y: [-0.17479441305515156, -0.16047996645069626, -0.16706818553716646,
-          -0.16832931160107853, -0.15964678653476125, -0.17654942084029726]
-        pos_z: [0.4616257579080472, 0.6975240360721391, 0.6906027201441411, 0.7249379451698345,
-          0.7234629293448019, 0.7410160428176756]
+        pos_x: [0.03518215541754744, 0.030537303017660278, 0.28175540674811267, 0.03246205851229394,
+          0.15574272043882548, 0.12632803738147308]
+        pos_y: [-0.1688179425347251, -0.17225861651091479, -0.16017450751836693, -0.166592623839194,
+          -0.16733017474802242, -0.1665433562537781]
+        pos_z: [0.4611180248049746, 0.3646161598591734, 0.96138173804479, 0.6081964050885348,
+          0.7584946657828451, 0.734560348136082]
       left_wrist_yaw_link:
-        pos_x: [0.06514207653746427, 0.010716789410671862, 0.2781664207045241, 0.017364278932512547,
-          0.16641649841063477, 0.1236387598713055]
-        pos_y: [0.42510774790374856, 0.43917464673958295, 0.43314383620678093, 0.4312662694429985,
-          0.44038498443163404, 0.423340547545197]
-        pos_z: [0.4618972660915735, 0.6824519530401907, 0.7066323317895342, 0.6985145330876323,
-          0.7343022252680329, 0.7380077614222085]
+        pos_x: [0.03495971939959181, 0.03668876744221364, 0.26016016649210033, 0.02996900120244648,
+          0.1611063163978241, 0.12804297335530448]
+        pos_y: [0.43109226522287797, 0.42765311604712075, 0.4395421643307825, 0.43338418296617287,
+          0.4325409777853686, 0.4333461911646132]
+        pos_z: [0.461873753286366, 0.35534849059573637, 0.9525340092038799, 0.6092889502997807,
+          0.7516486112509593, 0.7302959482350431]
   constraint_specs:
   - type: ee_pos
     frame: pelvis_link