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trajectories/waving/waving_config_solution.yaml

@@ -1,67 +1,67 @@
 conditioner: [0, 0]
 domain_sequence: [double_support]
 double_support:
-  T: [0.8000000098593485]
+  T: [0.8000000099727611]
   bezier_coeffs:
     frames:
       com:
-        pos_x: [0.045285099053395644, 0.04507916457424398, 0.043420584630979614, 0.044465066677181066,
-          0.04449405908696362, 0.044454664631125206]
-        pos_y: [0.12516184261516491, 0.12463316616815102, 0.12244689328818893, 0.12392247877471821,
-          0.12235077162936564, 0.11916789129591969]
-        pos_z: [0.6706390851671328, 0.6698709655950476, 0.665418952607765, 0.6572031804535504,
-          0.6696432735641624, 0.6707007242189682]
+        pos_x: [0.0470111519310484, 0.04721557882602949, 0.04436876387134437, 0.04404948246539186,
+          0.04645720171540549, 0.048552207991695774]
+        pos_y: [0.12106700394403355, 0.11933845920537185, 0.12261987722011725, 0.107762876506229,
+          0.1258185087148493, 0.1211290920562337]
+        pos_z: [0.6864209808804774, 0.682393735059657, 0.6659123727837988, 0.6522163873385306,
+          0.683373800132258, 0.6862830664250962]
       left_ankle_roll_link:
-        ori_x: [-0.003900946628627882, -0.00351526809611732, -0.006268237670662114,
-          -0.005138498326891028, -0.0043436571619488015, -0.0036466226277485324]
-        ori_y: [-0.005000007170152005, -0.004235619613578678, -0.005264831490144779,
-          -0.005557209425998641, -0.004470548784904671, -0.0037613473905422994]
-        ori_z: [0.0046659018616877525, 0.0054543566428794125, 0.004513948040385611,
-          0.0053774696781517, 0.0048129626948090745, 0.004999992598033378]
-        pos_x: [-9.057310653092093e-05, 4.9092550156470616e-05, -0.0005239898624180816,
-          0.0005309688546691364, -0.0009185744091056723, 0.0005688913136616392]
-        pos_y: [0.25121417675937346, 0.2504925787857952, 0.24983276853332295, 0.24836780951004442,
-          0.2513452892890431, 0.25083874431871916]
-        pos_z: [-0.00010502319791092761, 0.000715576944031487, -0.0034383893643862287,
-          0.0007641259935795575, -0.002064196184466693, 0.00031789406769271405]
+        ori_x: [-0.0038110635289549727, -0.0035468298478762883, -0.006065026594514163,
+          -0.005391356829365875, -0.0042065233490326545, -0.0035821573701481585]
+        ori_y: [-0.004130986065752357, -0.0034406784778470306, -0.006991073984103093,
+          -0.004386662263887188, -0.004032258694798829, -0.0034308767050221854]
+        ori_z: [0.0038653568579618417, 0.00346190798201276, 0.006362739317521796,
+          0.005040402733693251, 0.00442452594091626, 0.0035880714917177025]
+        pos_x: [-0.00023590696917214537, -0.0012952378715703865, 0.0010012823596355469,
+          -0.0008269353913520598, -0.0007092265088167449, 0.0005892738606204996]
+        pos_y: [0.2515407993169502, 0.2514375759658115, 0.2515108417829931, 0.2515354847902779,
+          0.2513400813268123, 0.25159230955233314]
+        pos_z: [5.787711107068114e-05, 0.0019107743083702179, -0.007329668372343242,
+          0.0030839548756177665, -0.003404058697641185, -0.0004137818322549876]
       pelvis_link:
-        ori_x: [7.264067316247572e-05, 0.015460525080404334, -0.04893758311965569,
-          0.025833900718434666, -0.0353581087053325, 0.007433538909347064]
-        ori_y: [0.03218530244455075, 0.03984145907543512, -0.03752729441755179, 0.0406998362559944,
-          -0.0067112325063951785, 0.023851001479480056]
-        ori_z: [-0.00593469238060358, 0.00945654450596126, -0.035289658359438016,
-          0.020062847642812274, -0.008403004703443876, -0.005787863585378529]
+        ori_x: [0.006377750674742528, -0.009888451499088444, -0.030719578235993892,
+          0.014301544811730574, -0.03258522190104407, 0.004333739642242036]
+        ori_y: [0.02620306488438316, 0.021283193994931185, 0.011135512041424834, 0.07671249621754302,
+          -0.0019614075288824223, 0.036254001090680284]
+        ori_z: [-0.003630535423967842, 0.05370429745173287, -0.04685048804319856,
+          0.036028318916033045, 0.018494248450944682, -0.005562480758819463]
       right_ankle_roll_link:
-        ori_x: [-0.003915010034867281, -0.0035348505053354913, -0.0062385881174602895,
-          -0.005164196202100441, -0.004322744753497881, -0.0036729283408871954]
-        ori_y: [-0.002008263579687016, -0.0016028283197607562, -0.0013256774893769907,
-          0.0013444054853502187, -0.0008546533089797406, -0.001297751381648739]
-        ori_z: [-0.004999986249532236, -0.004321019954182482, -0.005178305873707767,
-          -0.00027062895891932814, -0.005859065596720423, -0.004152916846738602]
+        ori_x: [-0.0038391662354591858, -0.0035798800652450734, -0.006002312531565388,
+          -0.00561703874957311, -0.0038679286870694778, -0.0037363722352871617]
+        ori_y: [0.003734361763528663, 0.004097878090989838, 0.005763482088070857,
+          0.005310135958568002, 0.004444015306907437, 0.0035923859329188086]
+        ori_z: [0.00240322331521055, 0.0001928380308502542, 0.005703050303393857,
+          0.0016259491716653163, 0.0022061981641935376, 0.00107142409202479]
         pos_x: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-        pos_y: [-1.3414884578226853e-59, 1.5789142894189127e-58, -3.333833770438456e-58,
-          3.589593065839754e-58, -1.633061268083359e-58, 1.0186456619160138e-59]
-        pos_z: [7.905676701259937e-60, -2.0340625091458306e-58, 5.1023155795909686e-58,
-          -5.4762326735303086e-58, 2.4320547432432336e-58, -1.6719457051154158e-59]
+        pos_y: [2.173716852724328e-160, -2.900507281344922e-159, 6.77560449451219e-159,
+          -6.129346036052672e-159, 2.055042385013349e-159, -3.370351521385208e-161]
+        pos_z: [4.579999838338448e-164, 2.571061873355607e-164, -1.3968892870716323e-162,
+          4.594323046394285e-162, -3.0976700504334715e-162, 2.7918898608367353e-163]
     joints:
-      left_elbow_joint: [0.6999999999999998, 0.7000000000000015, 0.6999999999999978,
-        0.7000000000000003, 0.7000000000000008, 0.6999999999999997]
-      left_shoulder_pitch_joint: [0.09999999999999981, 0.10000000000000166, 0.09999999999999919,
-        0.09999999999999708, 0.10000000000000347, 0.09999999999999949]
-      left_shoulder_roll_joint: [0.24000000000000002, 0.24000000000000035, 0.23999999999999896,
-        0.2400000000000008, 0.23999999999999969, 0.24000000000000005]
-      left_shoulder_yaw_joint: [1.2048583312548157e-17, 2.3741080434807184e-18, -7.949864315680446e-17,
-        8.159451215731033e-17, -4.424961785266929e-17, 1.950395353998718e-17]
-      right_elbow_joint: [-1.0000000000000002, -0.7398196912161, 0.10531785124766993,
-        0.5956280343857264, -0.3796040251475297, -0.9899999902560296]
-      right_shoulder_pitch_joint: [0.050000000000000204, 0.04999999999999994, 0.05000000000000022,
-        0.049999999999998754, 0.05000000000000083, 0.05000000000000001]
-      right_shoulder_roll_joint: [-0.5, -0.5000000000000003, -0.499999999999999, -0.5000000000000009,
-        -0.49999999999999944, -0.5000000000000001]
-      right_shoulder_yaw_joint: [-1.0000000000000004, -0.9999999999999996, -0.9999999999999999,
-        -0.9999999999999993, -1.0000000000000002, -1.0000000000000002]
-      waist_yaw_joint: [-6.941588227636736e-16, 2.243126709415901e-15, -1.770752443998337e-15,
-        1.4423067084766285e-17, 1.150427199938897e-15, -4.140566231212876e-16]
+      left_elbow_joint: [0.7, 0.7000000000000003, 0.6999999999999987, 0.7000000000000012,
+        0.6999999999999993, 0.7]
+      left_shoulder_pitch_joint: [0.10000000000000006, 0.09999999999999992, 0.10000000000000003,
+        0.09999999999999994, 0.10000000000000002, 0.10000000000000003]
+      left_shoulder_roll_joint: [0.24, 0.24, 0.2400000000000001, 0.23999999999999974,
+        0.24000000000000002, 0.24000000000000005]
+      left_shoulder_yaw_joint: [-3.501213876854009e-18, -4.7435104697851415e-17, 1.904576436147401e-16,
+        -2.312321837795391e-16, 6.795805539499466e-17, 1.0023003711630609e-17]
+      right_elbow_joint: [-0.3, 0.26832519738621285, 0.24366978132596612, 1.7149355666048316,
+        -0.26174873018610145, -0.2899999901624295]
+      right_shoulder_pitch_joint: [0.05000000000000002, 0.04999999999999874, 0.050000000000003465,
+        0.049999999999996464, 0.05000000000000134, 0.04999999999999992]
+      right_shoulder_roll_joint: [-2.0, -1.195071803767214, -1.0847144183231954, -0.5428343304586866,
+        -1.1937338547637453, -1.9899999900794278]
+      right_shoulder_yaw_joint: [-1.0000000000000002, -1.0000000000000007, -0.9999999999999964,
+        -1.0000000000000038, -0.9999999999999984, -1.0000000000000002]
+      waist_yaw_joint: [-3.465885831226004e-16, 2.739223722055201e-15, -4.733870495160183e-15,
+        3.444114704844707e-15, -9.453689065235713e-16, 1.5256901977657937e-17]
   constraint_specs:
   - axes: [0, 1, 2]
     type: com_pos
@@ -93,249 +93,248 @@ double_support:
     left_elbow_joint, right_shoulder_pitch_joint, right_shoulder_roll_joint, right_shoulder_yaw_joint,
     right_elbow_joint]
   left_foot_middle:
-    0: [2.566097395268495, -5.803241018027304, 169.32712084204812, -39.950022046143815,
-      -12.48937287611413, -0.10885354351189686]
-    1: [1.5855539387791315, -5.404207244450731, 169.13147736665118, -39.812393095426415,
-      -12.527788953534056, -0.14617828160155186]
-    2: [1.4422178592483985, -5.083484588204164, 169.45574373968262, -40.66379033506001,
-      -12.610923518740611, -0.011566828034413635]
-    3: [1.4519520644620612, -5.802094808731916, 170.70665334097833, -41.44500681073406,
-      -12.894234107747206, 0.11337405148608684]
-    4: [1.6965444323271923, -6.639699114089613, 171.68797043862492, -41.78662507298623,
-      -12.967832014511169, 0.2177928527580286]
-    5: [2.0644030315648196, -7.219375673447214, 171.93531412677692, -41.515220606811404,
-      -12.780128290795643, 0.19626659886106018]
-    6: [1.6339638282262472, -7.290024988934191, 171.4279624241439, -40.63595434506138,
-      -12.831361498758294, -0.12865954690159118]
-    7: [0.8357710244601958, -5.077963972851434, 170.00118864154172, -39.795633218453446,
-      -12.795417418781748, -0.23297770511558308]
-    8: [0.8511745853954857, -0.8290846152779244, 160.53663404555607, -37.550337068854525,
-      -12.401220859049975, -0.16456404477240977]
-    9: [1.1423642070850708e-19, 5.794397768998375e-21, 0.004921786044088894, 0.0,
-      0.0, -1.3483796005338695e-19]
+    0: [0.6933384926399803, -8.477817306205258, 164.3765874553136, -36.70374709561902,
+      -12.567712612389604, -1.1824430983428724]
+    1: [0.7505356812985065, -6.509511020911478, 166.43800651392755, -39.81598802769797,
+      -12.73054229994757, -0.22818032801529128]
+    2: [0.8547252085418534, -3.9750126175746696, 166.74780427367602, -43.08623401207309,
+      -12.782414461024675, 0.5106907811842095]
+    3: [1.5905544500583801, -2.6681404517836764, 168.40754541179655, -46.27024916150688,
+      -12.705370875995177, 1.1983975403818312]
+    4: [2.162361574301274, -4.169789477429026, 171.506684771731, -47.33736569004693,
+      -12.820647676138234, 1.3966674421401502]
+    5: [2.733857766184283, -6.954149570125174, 173.6930395864455, -46.283079050703435,
+      -12.630291103675022, 1.1295925702056206]
+    6: [1.7372218968152056, -8.516004287974425, 171.7416758849922, -43.54120678668093,
+      -12.523421397688415, 0.16252241353410793]
+    7: [0.23248766276896116, -7.810553784471263, 167.87544210096237, -38.14153599474429,
+      -12.701000912374306, -0.8579784874456685]
+    8: [0.5908254282370777, 10.021440957118047, 144.3478158972692, -26.87872656257861,
+      -11.69980535247974, -2.2730097851535747]
+    9: [1.4386012860830975e-19, 2.474594231690694e-19, 0.004268449308345763, 0.0,
+      0.0, -1.1199640613383198e-19]
   q:
-    0: [-0.01857851736965143, 0.13260038914150415, 0.7500000000000112, 8.588486263211421e-05,
-      0.01625348632410066, -0.002997375935427613, 0.9899178082045567, -0.31495859076484184,
-      0.010851946544710028, 0.006512590463655541, 0.6331288591728401, -0.35528350504550416,
-      -0.010830742631475194, -0.3178775832752205, -0.015075785631224137, 0.008487412219325231,
-      0.6335620708770509, -0.3499504192962898, 0.01328944086817708, -7.477802025692644e-16,
-      0.09999999999999985, 0.24000000000000002, 3.5341311467664334e-19, 0.6999999999999998,
-      0.05000000000000031, -0.49999999999999994, -1.0000000000000004, -1.0]
-    1: [-0.019672201470742254, 0.13456274639742574, 0.749999999999995, 0.0007283896830571768,
-      0.014431537861986088, -0.0014411472458408727, 0.9997467006938497, -0.3147160913522659,
-      0.005160366809498184, 0.006204799925455071, 0.6360250790979805, -0.35489999886582746,
-      -0.007264299332951741, -0.3175482599465119, -0.020160310866640704, 0.007995888051220576,
-      0.6388819603529138, -0.35203041026613713, 0.016194536250221932, 4.1073129416184163e-16,
-      0.10000000000000012, 0.2400000000000001, 5.669163212068361e-17, 0.6999999999999998,
-      0.04999999999999961, -0.5000000000000002, -0.9999999999999997, -0.79620742259322]
-    2: [-0.020000009944964318, 0.13651659940929706, 0.7500000000000056, -0.0018166909556327757,
-      0.00965049089188495, -0.00237939236684313, 0.9999489189878429, -0.3067363677351623,
-      0.008692587762196299, 0.006538372011462471, 0.6422035954908558, -0.35952565528176894,
-      -0.0055647425696616955, -0.30657210701767706, -0.015954885050976766, 0.008208013740930328,
-      0.63701023387202, -0.3512504893854827, 0.017232904192108787, 2.257393650637736e-16,
-      0.1000000000000009, 0.23999999999999974, -1.095050309159024e-16, 0.7000000000000005,
-      0.050000000000000835, -0.4999999999999995, -1.0, -0.5255720880278946]
-    3: [-0.020000009949533607, 0.13817831596986957, 0.7500000000000049, -0.004073434533582911,
-      0.005773784004515045, -0.0031530164294857038, 0.9999700640703217, -0.29877377137772837,
-      0.011908215192939343, 0.006644154256706551, 0.6452344332977022, -0.3628924505444061,
-      -0.004287734697689842, -0.2959632106912338, -0.012052782404748207, 0.008355767633417761,
-      0.6330125133674882, -0.3497030332191799, 0.01791475999638294, -5.066096603040434e-17,
-      0.09999999999999927, 0.24000000000000016, 7.922226240346455e-17, 0.6999999999999995,
-      0.04999999999999932, -0.5000000000000004, -1.0, -0.2622266093159555]
-    4: [-0.01987447683471579, 0.1391616059266337, 0.7499999999999709, -0.004989010309932363,
-      0.004085043159360609, -0.0028994649390910723, 0.9999750073384873, -0.29482819453454373,
-      0.012310632380615152, 0.005878731152242385, 0.6455089163107077, -0.3638483202761959,
-      -0.003402665974341825, -0.2905246170836944, -0.01112852638004435, 0.007737235971172107,
-      0.6305089087386806, -0.34884831353946144, 0.01840267572090174, 9.408051525319994e-18,
-      0.09999999999999994, 0.2399999999999998, -6.863977351580239e-17, 0.7, 0.049999999999999975,
-      -0.4999999999999999, -1.0, -0.07078132256333855]
-    5: [-0.019863591072047077, 0.13907843911516304, 0.7500000000000163, -0.004954126767894539,
-      0.004176956299636327, -0.0019442346949845076, 0.9999771145458807, -0.2953882041438294,
-      0.011367387205669963, 0.0042144289686098955, 0.6454578724767464, -0.3634317457727066,
-      -0.003373273702567099, -0.2903250308500221, -0.011924518263038758, 0.006227970929504918,
-      0.6304578629799186, -0.34887250658349167, 0.01837328326929677, 1.0184583264069357e-16,
-      0.09999999999999984, 0.24000000000000013, 5.052629854545047e-17, 0.6999999999999998,
-      0.04999999999999988, -0.5000000000000001, -0.9999999999999999, -1.694793275178652e-16]
-    6: [-0.02000000978028895, 0.13776771019440875, 0.7499999999999946, -0.004781881303568681,
-      0.004968197551728596, -0.0011601206273630185, 0.999975552073362, -0.29812118000166177,
-      0.012002682854030923, 0.0021371363882768295, 0.6461688938607124, -0.3628527900383641,
-      -0.005003148730701095, -0.29247619518406975, -0.011642255893491634, 0.004227233527886639,
-      0.6312722876825532, -0.349027323245667, 0.017091939084998634, 4.562468857467413e-16,
-      0.09999999999999987, 0.23999999999999996, -2.6469529964982612e-17, 0.7000000000000001,
-      0.04999999999999962, -0.49999999999999983, -0.9999999999999998, -0.07647556300984093]
-    7: [-0.020000009946511483, 0.13503784832167465, 0.7499999999999947, -0.004672718298894935,
-      0.005716321685800852, -0.0013026436973484286, 0.9999718958498227, -0.2998827799111787,
-      0.015943585571108438, 0.0004816733525853232, 0.6462283055137376, -0.36235225346937966,
-      -0.009136705159023446, -0.2942249775291713, -0.008473964768855442, 0.002533490676820549,
-      0.6312282971825397, -0.34892364837619283, 0.013628656605954534, -5.075587515958768e-16,
-      0.10000000000000062, 0.24, -9.689736302101515e-18, 0.7000000000000001, 0.050000000000000516,
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+      -0.010000005399996893, -0.009999997994741728, 0.010000007061760898, 0.010000004420878242,
+      4.675946842160975, 0.010000007054659782, 3.316472061469743]
 name: waving
 type: periodic