Add Aliengo cfg

Danfoa · Apr 12, 2024 · 8d4d9c5 · 8d4d9c5
1 parent c6d2f76
commit 8d4d9c5
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diff --git a/.gitignore b/.gitignore
@@ -19,3 +19,5 @@ morpho_symm/robot_harmonic_decomposition.py
 /morpho_symm/experiments/
 
 .vscode/
+
+*.pkl
diff --git a/morpho_symm/cfg/robot/aliengo.yaml b/morpho_symm/cfg/robot/aliengo.yaml
@@ -0,0 +1,12 @@
+defaults:
+  - base_robot
+
+name: a1
+
+hip_height: 0.4
+
+group_label: C2
+# QJ: Joint Space symmetries____________________________________
+permutation_Q_js: [[3, 4, 5, 0, 1, 2, 9, 10, 11, 6, 7, 8]]
+# Reflections are determined by joint frame predefined orientation.
+reflection_Q_js: [[-1, 1, 1, -1, 1, 1, -1, 1, 1, -1, 1, 1]]