From 8d4d9c592e4e9aeaf739de87dd00a96281f36161 Mon Sep 17 00:00:00 2001
From: Daniel Ordonez <daniels.ordonez@gmail.com>
Date: Fri, 12 Apr 2024 14:50:02 +0200
Subject: [PATCH] Add Aliengo cfg

---
 .gitignore                         |  2 ++
 morpho_symm/cfg/robot/aliengo.yaml | 12 ++++++++++++
 2 files changed, 14 insertions(+)
 create mode 100644 morpho_symm/cfg/robot/aliengo.yaml

diff --git a/.gitignore b/.gitignore
index 77c5032..af983ff 100644
--- 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
new file mode 100644
index 0000000..26db72b
--- /dev/null
+++ 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]]
\ No newline at end of file