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trajectories/standing/standing_config_solution.yaml

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+conditioner: [-0.05, 0.05]
+domain_sequence: [double_support]
+double_support:
+  T: [0.10000000000871674]
+  bezier_coeffs:
+    frames:
+      left_ankle_roll_link:
+        ori_x: [0.0009672571254481717, 0.0009872575926462407, 0.00108587234855816,
+          0.0009327304061949705, 0.0009883608545417349, 0.0009683994155869728]
+        ori_y: [0.0009999945802194158, 0.000980013595840257, 0.0007742745345826748,
+          0.0010230344756137638, 0.0009352306032979477, 0.0009552113584492135]
+        ori_z: [0.0010000046376350523, 0.0009822103772130512, 0.0009537853485147747,
+          0.0009705673347919328, 0.0009123100659248396, 0.0009323337427351824]
+        pos_x: [5.54238195167951e-05, 3.4823707391845494e-05, 0.00012773048253878099,
+          2.7134899234275422e-05, 8.734832489432472e-06, 2.488987853156407e-05]
+        pos_y: [0.25797538062137637, 0.2579554804129597, 0.2579615573137393, 0.2580289225232288,
+          0.25792638047275046, 0.2579462806719972]
+        pos_z: [3.5788746003390596e-05, 5.508934225240002e-05, 0.0001722047495622035,
+          5.124499405904868e-05, 0.00012463905693542907, 0.00010533849047956912]
+      left_wrist_yaw_link:
+        pos_x: [0.03455272125972516, 0.034428468728360195, 0.03396550999682175, 0.034522162997804785,
+          0.03414712273440989, 0.034279810646480835]
+        pos_y: [0.36205169113937186, 0.36195857576465607, 0.3617193161529939, 0.3621265171626038,
+          0.3617763322631222, 0.36188587441575537]
+        pos_z: [0.692656055639157, 0.6925183632463418, 0.6929111329095123, 0.6927823508695665,
+          0.6926152087923635, 0.6927577224600368]
+      pelvis_link:
+        ori_x: [0.0010960796444704035, 0.0012541801453803312, 0.00158152849812586,
+          0.0011216559388335654, 0.0015389277533704691, 0.0013815017756947559]
+        ori_y: [0.05000000664610352, 0.04980000023465508, 0.049273459190025556, 0.04995872510551515,
+          0.04939664825436549, 0.049596660567863264]
+        ori_z: [0.010000000062106582, 0.010005396246800063, 0.009998916666892886,
+          0.009994085957849, 0.010008598443413588, 0.009999999999102786]
+        pos_x: [0.014274960219264924, 0.014125887017705695, 0.013773604062554498,
+          0.014284756211253014, 0.01388694638123253, 0.014036476337654188]
+        pos_y: [0.12947986106590412, 0.1293667776671259, 0.12914104918117503, 0.12953941673042862,
+          0.12918681591490944, 0.12929987285667252]
+        pos_z: [0.7410008040758358, 0.7409885113666668, 0.7410616756125394, 0.7410189168110053,
+          0.7410156218465468, 0.7410279944944521]
+      right_ankle_roll_link:
+        ori_x: [-0.000999783758241919, -0.000979776491900149, -0.000980146892190144,
+          -0.0009703636263515222, -0.0009201130261531132, -0.0009401150668161872]
+        ori_y: [-0.0009219796334370691, -0.0009419849771322022, -0.0011232966600047542,
+          -0.0009147696510418377, -0.0010012626695713683, -0.000981258672133147]
+        ori_z: [0.0010000080822122437, 0.0009929313122895844, 0.000924507424041112,
+          0.0010138644032688447, 0.0009981830799943125, 0.0009995562425672614]
+        pos_x: [3.392178143073971e-21, -2.0600179266191903e-05, 8.952966768852635e-06,
+          1.1647213161682789e-05, -2.0600180594878982e-05, 5.732056375274174e-21]
+        pos_y: [7.660918380841876e-21, -2.0351817372884903e-05, -6.602895751415537e-05,
+          8.648060791817743e-05, -2.055148343515926e-05, 4.06094361475585e-21]
+        pos_z: [7.080292934431648e-21, -2.0700193948897214e-05, 8.372026798003563e-06,
+          1.2328168140634372e-05, -2.070019592837871e-05, 6.653251083098051e-21]
+      right_wrist_yaw_link:
+        pos_x: [0.03949574863531947, 0.039482848061617455, 0.038838313603817856, 0.0394119871405886,
+          0.03919314109106614, 0.03919805614449954]
+        pos_y: [-0.10251679411984926, -0.10261085497729298, -0.10286420852067511,
+          -0.10241815872728019, -0.10282246623255947, -0.10268523222653757]
+        pos_z: [0.6921527987297216, 0.691966073431116, 0.6921983577679939, 0.6922235112662549,
+          0.6919384997149794, 0.6921217742750113]
+    joints:
+      left_ankle_pitch_joint: [-0.24601327084455826, -0.24591327562281187, -0.2456363993759295,
+        -0.24604149682168172, -0.24577211761227602, -0.24587212518180582]
+      left_ankle_roll_joint: [-0.014663993918337602, -0.01476399461040959, -0.01497087099055778,
+        -0.014681112248141635, -0.014946223679306366, -0.014846223033127522]
+      left_elbow_joint: [0.8000000000094096, 0.7999999999937795, 0.7999500129500879,
+        0.8000999740625147, 0.7999000259188133, 0.8000000000001349]
+      left_hip_pitch_joint: [-0.24586133451348852, -0.2458798741549035, -0.24609441644744937,
+        -0.24574874734721025, -0.24581338266564107, -0.24579224427977378]
+      left_hip_roll_joint: [0.010303207081599756, 0.010258532300260671, 0.010229180587421794,
+        0.010255187736647594, 0.010139188723890044, 0.010184494927997254]
+      left_hip_yaw_joint: [-0.013618032975818558, -0.013622872199981692, -0.013621795787624994,
+        -0.0136237704955874, -0.013642564350332538, -0.013634375445231764]
+      left_knee_joint: [0.4427296429917732, 0.4428270890763933, 0.4430829108912069,
+        0.4427095006976296, 0.44297605940069845, 0.4428760619010614]
+      left_shoulder_pitch_joint: [0.3172164190085341, 0.31731641853631226, 0.31756606564472734,
+        0.3172058632220544, 0.3174734884035292, 0.3173734889644407]
+      left_shoulder_roll_joint: [0.24000000001835387, 0.23999999999167695, 0.23995239060570417,
+        0.24009521873868328, 0.23990478123631798, 0.24000000000041388]
+      left_shoulder_yaw_joint: [6.259975715621823e-12, -3.3033824782512744e-12, 4.230583908576433e-05,
+        -8.461169796963331e-05, 8.461168803718855e-05, 1.0836486477687917e-12]
+      right_ankle_pitch_joint: [-0.2530349231126367, -0.25293492293744285, -0.25268557036765876,
+        -0.25304528830346434, -0.2527776789115448, -0.25287767907693826]
+      right_ankle_roll_joint: [0.01732477704755818, 0.01722477624488842, 0.01700516979179016,
+        0.0173158955595403, 0.01705003493053425, 0.017150035718282948]
+      right_elbow_joint: [0.8000000000222667, 0.7999999999896412, 0.8000499995045881,
+        0.7999000009286887, 0.8000999990402198, 0.7999999999935093]
+      right_hip_pitch_joint: [-0.24276995480838479, -0.2427912872136063, -0.24288651329323013,
+        -0.24274052602646923, -0.2428001445461603, -0.2427787825028129]
+      right_hip_roll_joint: [-0.021342653795488376, -0.02138014791405899, -0.02149934219748252,
+        -0.02132313633584152, -0.0214220702480201, -0.021386055469196977]
+      right_hip_yaw_joint: [-0.0013819729317046318, -0.0013683558482023958, -0.0013625321541462444,
+        -0.0013665270405860224, -0.0013278233953103963, -0.0013434286496098221]
+      right_knee_joint: [0.44497472275633165, 0.4450747228798061, 0.44526370320993924,
+        0.44500342201663984, 0.44526747999527944, 0.44516747986761557]
+      right_shoulder_pitch_joint: [0.31632819317939054, 0.31642819288574187, 0.31659162862448953,
+        0.3163734209756237, 0.3166359752689759, 0.3165359755926516]
+      right_shoulder_roll_joint: [-0.2400000000030242, -0.24000000000890698, -0.2400499999206323,
+        -0.239900000212095, -0.24009999981470148, -0.23999999997997273]
+      right_shoulder_yaw_joint: [-2.6417588100543007e-12, -3.762171082024354e-12,
+        -4.999935297465865e-05, 9.999868340795318e-05, -9.999869472477959e-05, 9.54887675005521e-12]
+      waist_yaw_joint: [-2.2533384803584152e-11, 1.5433924474656242e-11, 4.998149991985648e-05,
+        -9.996290719508597e-05, 9.996295346445576e-05, -9.712742069258508e-13]
+  constraint_specs:
+  - axes: [0, 1, 2]
+    frame: pelvis_link
+    type: ee_pos
+  - axes: [0, 1, 2]
+    frame: pelvis_link
+    type: ee_ori
+  - axes: [0, 1, 2]
+    frame: left_ankle_roll_link
+    type: ee_pos
+  - axes: [0, 1, 2]
+    frame: left_ankle_roll_link
+    type: ee_ori
+  - axes: [0, 1, 2]
+    frame: right_ankle_roll_link
+    type: ee_pos
+  - axes: [0, 1, 2]
+    frame: right_ankle_roll_link
+    type: ee_ori
+  - joint_names: [waist_yaw_joint]
+    type: joint
+  - axes: [0, 1, 2]
+    frame: right_wrist_yaw_link
+    type: ee_pos
+  - axes: [0, 1, 2]
+    frame: left_wrist_yaw_link
+    type: ee_pos
+  - joint_names: [waist_yaw_joint, left_shoulder_pitch_joint, left_shoulder_roll_joint,
+      left_shoulder_yaw_joint, left_elbow_joint, right_shoulder_pitch_joint, right_shoulder_roll_joint,
+      right_shoulder_yaw_joint, right_elbow_joint, left_hip_roll_joint, left_hip_pitch_joint,
+      left_hip_yaw_joint, left_knee_joint, left_ankle_pitch_joint, left_ankle_roll_joint,
+      right_hip_roll_joint, right_hip_pitch_joint, right_hip_yaw_joint, right_knee_joint,
+      right_ankle_pitch_joint, right_ankle_roll_joint]
+    type: joint
+  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,
+    left_ankle_pitch_joint, left_ankle_roll_joint, right_hip_pitch_joint, right_hip_roll_joint,
+    right_hip_yaw_joint, right_knee_joint, right_ankle_pitch_joint, right_ankle_roll_joint,
+    waist_yaw_joint, left_shoulder_pitch_joint, left_shoulder_roll_joint, left_shoulder_yaw_joint,
+    left_elbow_joint, right_shoulder_pitch_joint, right_shoulder_roll_joint, right_shoulder_yaw_joint,
+    right_elbow_joint]
+  left_foot_middle:
+    0: [-4.747028155277807, -10.283287959755098, 95.0632554784015, -10.00000001232709,
+      -7.967739777923844, -3.0514738956177068]
+    1: [-4.653795789990485, -10.351243589701037, 95.07855605885179, -10.000000009726724,
+      -7.969794543310357, -3.040448836664076]
+    2: [1.1811306609268935e-14, 2.5318460336618965e-16, 888.5131389559516, 0.0, 0.0,
+      -6.234680970621006e-16]
+  q:
+    0: [-0.01975272790793764, 0.1304748180815539, 0.7700000097954713, 0.0004227978292036181,
+      0.02498863781313776, 0.004982499289508296, 1.0001223248356639, -0.2458613345135666,
+      0.010303207081695975, -0.013618032975935349, 0.44272964299180867, -0.24601327084454425,
+      -0.014663993918131203, -0.2427699548084274, -0.02134265379535579, -0.001381972931706899,
+      0.44497472275633837, -0.25303492311264403, 0.017324777047752305, -2.2537060575946864e-11,
+      0.31721641900862135, 0.24000000001835675, 6.2609691158724126e-12, 0.8000000000094111,
+      0.31632819317942634, -0.24000000000302438, -2.642029564881918e-12, 0.8000000000222701]
+    1: [-0.020000009394489305, 0.13028388911065486, 0.7699916919522349, 0.0005550372599983443,
+      0.0248115064644348, 0.004981588563330814, 0.9996792813064921, -0.2458922344015936,
+      0.010228749699495488, -0.013626101688118808, 0.4428920488490167, -0.24584660388048385,
+      -0.014830660648703172, -0.2428055090410134, -0.0214051432934451, -0.0013592778045755569,
+      0.4451413896645736, -0.25286825619208403, 0.017158110068222168, 2.3396510963703102e-11,
+      0.31738308535481, 0.23999999998757413, -4.935099711361551e-12, 0.7999999999905735,
+      0.3164948595485271, -0.24000000001339294, -5.6657911586523335e-12, 0.7999999999842983]
+    2: [-0.019992999973518295, 0.1302919627375338, 0.7699937501501208, 0.0005665514233713331,
+      0.02479892552595604, 0.004981313168400223, 0.9996798881796687, -0.24579224427983762,
+      0.01018449492809069, -0.013634375445342364, 0.44287606190107276, -0.24587212518178708,
+      -0.014846223032924093, -0.2427787825028526, -0.021386055469066564, -0.0013434286496109551,
+      0.4451674798676222, -0.25287767907694386, 0.017150035718474826, -9.718552141576596e-13,
+      0.31737348896454043, 0.2400000000004142, 1.083899211762133e-12, 0.8000000000001352,
+      0.31653597559269187, -0.2399999999799696, 9.55035513386635e-12, 0.7999999999935087]
+  ref_frame: right_ankle_roll_link
+  ref_frame_domain: double_support
+  reference_frame_type: body
+  right_foot_middle:
+    0: [12.584558589309617, 15.987806551723033, 259.8204264474363, 1.9074600273165352,
+      -9.99999998298028, 0.09731230815263406]
+    1: [12.491798509806703, 15.768398737025048, 259.7022653963235, 1.9173878035008158,
+      -9.99999998206879, 0.06624093248574796]
+    2: [1.1811306609268935e-14, 2.5318460336618965e-16, 888.5131389559516, 0.0, 0.0,
+      -6.234680970621006e-16]
+  spline_order: 5
+  u:
+    0: [-1.9995680979351502, -8.226233829310337, 4.390958491822897, -2.6989604617509295,
+      4.668022441868967, -14.923116012085956, 2.61351358807346, -7.637697879432024,
+      3.9112156616871987, -14.142200285166178, 0.8539742255407823, -1.7038469422976428,
+      -0.02425560111167088, 0.3161603187544869, 2.1133520890913515, 0.634097155155245,
+      -1.1778044496496674, 0.32849269887052857, -1.8529994864770016, -0.5533088978167529,
+      -1.1955712114328847]
+    1: [-2.0115770625200278, -8.201442837114213, 4.392719686705484, -2.694502995978643,
+      4.667423186242807, -14.925920490708082, 2.60308593168679, -7.612598022326239,
+      3.9151625311592597, -14.147301298305788, 0.8587663089089975, -1.7122596022340337,
+      -0.03745051670637823, 0.3207689211618131, 2.1213599998052506, 0.6348978068795306,
+      -1.169599486019398, 0.3262663957860802, -1.8167920808305835, -0.5392870342468897,
+      -1.2007464660222003]
+    2: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+      0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+  v:
+    0: [-0.007453656505486318, -0.005654124326129811, -0.0006146454791286022, 0.007891462569291859,
+      -0.010000006956335405, 0.00028043336959175034, -0.000926996239132248, -0.0022337209034778175,
+      -0.0002420617530708382, 0.004872175824920353, 0.005000008786914857, -0.005000001889822375,
+      -0.0010666275406727105, -0.0018746850888499704, 0.0006808538448322249, 0.005000007277969324,
+      0.005000007553946201, -0.005000009428792134, 2.055439374782921e-09, 0.004999990418773267,
+      -1.3700515280123477e-09, -4.841840737728008e-10, -8.372954470908647e-10, 0.00499999105650548,
+      -1.3695904712281568e-10, 1.6328881135377598e-11, -1.816912567330141e-09]
+    1: [0.00020937052034925252, 0.00024019270459455175, 7.188831360897601e-05, 0.0006872576580059737,
+      -0.0007589684303540501, 8.600117135011418e-07, 0.0029997036661238785, -0.001327643103568516,
+      -0.0002482127451623378, -0.0004796084298808993, -0.0007656390332387072, -0.00046687149073513866,
+      0.000801796159599924, 0.0005726347346362551, 0.00047547463965162196, 0.0007827061060241557,
+      -0.00028268654859533646, -0.00024223045649073369, -7.597541918112258e-10, -0.0002878916937862338,
+      3.999885537149993e-10, 2.1406540889069198e-10, 2.9157810093239106e-10, 0.0012334813248173627,
+      1.6064550533040842e-09, 7.442097802578029e-10, 8.129188167153986e-11]
+    2: [0.007476497678238812, 0.005652803515856857, 0.0006186424561819099, -0.007849910916742857,
+      0.010000006976112629, -0.00044320529892462925, 0.0010569249171987762, 0.002265214278570273,
+      0.00040944589897655003, -0.00499982842430903, -0.005000008766366922, 0.005000000307140528,
+      0.0010681086275042512, 0.0018007188571583124, -0.0007802631804254505, -0.005000007482788592,
+      -0.00500000769527357, 0.005000009431627674, -0.004998150664674575, -0.0049999905774762805,
+      0.0047609400634955855, -0.004230584080318742, 0.004998705325318817, -0.004999990513601175,
+      0.004999993890446318, 0.004999935859650773, -0.004999952222221066]
+name: standing
+type: periodic