fixed a bug in torso coupling matrix

dbdxnuliba · Oct 9, 2018 · 7446771 · 7446771
1 parent aa9ffe5
commit 7446771
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Showing 12 changed files with 36 additions and 36 deletions.
diff --git a/torque-controllers/momentum-based-standup/app/robots/iCubGenova02/initCoordinator.m b/torque-controllers/momentum-based-standup/app/robots/iCubGenova02/initCoordinator.m
@@ -126,9 +126,9 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [0   -0.5     0.5;
-           0    0.5     0.5;
-           r/R  r/(2*R) r/(2*R)];
+T_torso = [-0.5     0.5     0;
+            0.5     0.5     0;
+            r/(2*R) r/(2*R) r/R];
 
 if Config.INCLUDE_COUPLING
 

diff --git a/torque-controllers/momentum-based-standup/app/robots/iCubGenova02/initStateMachineStandup.m b/torque-controllers/momentum-based-standup/app/robots/iCubGenova02/initStateMachineStandup.m
@@ -157,9 +157,9 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [0   -0.5     0.5;
-           0    0.5     0.5;
-           r/R  r/(2*R) r/(2*R)];
+T_torso = [-0.5     0.5     0;
+            0.5     0.5     0;
+            r/(2*R) r/(2*R) r/R];
 
 if Config.INCLUDE_COUPLING
 

diff --git a/torque-controllers/momentum-based-standup/app/robots/icubGazeboSim/initCoordinator.m b/torque-controllers/momentum-based-standup/app/robots/icubGazeboSim/initCoordinator.m
@@ -126,9 +126,9 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [0   -0.5     0.5;
-           0    0.5     0.5;
-           r/R  r/(2*R) r/(2*R)];
+T_torso = [-0.5     0.5     0;
+            0.5     0.5     0;
+            r/(2*R) r/(2*R) r/R];
 
 if Config.INCLUDE_COUPLING
 

diff --git a/torque-controllers/momentum-based-standup/app/robots/icubGazeboSim/initStateMachineStandup.m b/torque-controllers/momentum-based-standup/app/robots/icubGazeboSim/initStateMachineStandup.m
@@ -157,9 +157,9 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [0   -0.5     0.5;
-           0    0.5     0.5;
-           r/R  r/(2*R) r/(2*R)];
+T_torso = [-0.5     0.5     0;
+            0.5     0.5     0;
+            r/(2*R) r/(2*R) r/R];
 
 if Config.INCLUDE_COUPLING
 

diff --git a/torque-controllers/momentum-based-yoga/app/robots/iCubGazeboV2_5/initCoordinator.m b/torque-controllers/momentum-based-yoga/app/robots/iCubGazeboV2_5/initCoordinator.m
@@ -115,9 +115,9 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [0   -0.5     0.5;
-           0    0.5     0.5;
-           r/R  r/(2*R) r/(2*R)];
+T_torso = [-0.5     0.5     0;
+            0.5     0.5     0;
+            r/(2*R) r/(2*R) r/R];
 
 if Config.INCLUDE_COUPLING
 

diff --git a/torque-controllers/momentum-based-yoga/app/robots/iCubGazeboV2_5/initStateMachineYoga.m b/torque-controllers/momentum-based-yoga/app/robots/iCubGazeboV2_5/initStateMachineYoga.m
@@ -460,9 +460,9 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [0   -0.5     0.5;
-           0    0.5     0.5;
-           r/R  r/(2*R) r/(2*R)];
+T_torso = [-0.5     0.5     0;
+            0.5     0.5     0;
+            r/(2*R) r/(2*R) r/R];
 
 if Config.INCLUDE_COUPLING
 

diff --git a/torque-controllers/momentum-based-yoga/app/robots/iCubGenova02/initCoordinator.m b/torque-controllers/momentum-based-yoga/app/robots/iCubGenova02/initCoordinator.m
@@ -115,9 +115,9 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [0   -0.5     0.5;
-           0    0.5     0.5;
-           r/R  r/(2*R) r/(2*R)];
+T_torso = [-0.5     0.5     0;
+            0.5     0.5     0;
+            r/(2*R) r/(2*R) r/R];
 
 if Config.INCLUDE_COUPLING
 

diff --git a/torque-controllers/momentum-based-yoga/app/robots/iCubGenova02/initStateMachineYoga.m b/torque-controllers/momentum-based-yoga/app/robots/iCubGenova02/initStateMachineYoga.m
@@ -462,9 +462,9 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [0   -0.5     0.5;
-           0    0.5     0.5;
-           r/R  r/(2*R) r/(2*R)];
+T_torso = [-0.5     0.5     0;
+            0.5     0.5     0;
+            r/(2*R) r/(2*R) r/R];
 
 if Config.INCLUDE_COUPLING
 

diff --git a/torque-controllers/momentum-based-yoga/app/robots/iCubGenova04/initCoordinator.m b/torque-controllers/momentum-based-yoga/app/robots/iCubGenova04/initCoordinator.m
@@ -115,9 +115,9 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [0   -0.5     0.5;
-           0    0.5     0.5;
-           r/R  r/(2*R) r/(2*R)];
+T_torso = [-0.5     0.5     0;
+            0.5     0.5     0;
+            r/(2*R) r/(2*R) r/R];
 
 if Config.INCLUDE_COUPLING
 

diff --git a/torque-controllers/momentum-based-yoga/app/robots/iCubGenova04/initStateMachineYoga.m b/torque-controllers/momentum-based-yoga/app/robots/iCubGenova04/initStateMachineYoga.m
@@ -465,9 +465,9 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [0   -0.5     0.5;
-           0    0.5     0.5;
-           r/R  r/(2*R) r/(2*R)];
+T_torso = [-0.5     0.5     0;
+            0.5     0.5     0;
+            r/(2*R) r/(2*R) r/R];
 
 if Config.INCLUDE_COUPLING
 

diff --git a/torque-controllers/momentum-based-yoga/app/robots/icubGazeboSim/initCoordinator.m b/torque-controllers/momentum-based-yoga/app/robots/icubGazeboSim/initCoordinator.m
@@ -115,9 +115,9 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [0   -0.5     0.5;
-           0    0.5     0.5;
-           r/R  r/(2*R) r/(2*R)];
+T_torso = [-0.5     0.5     0;
+            0.5     0.5     0;
+            r/(2*R) r/(2*R) r/R];
 
 if Config.INCLUDE_COUPLING
 

diff --git a/torque-controllers/momentum-based-yoga/app/robots/icubGazeboSim/initStateMachineYoga.m b/torque-controllers/momentum-based-yoga/app/robots/icubGazeboSim/initStateMachineYoga.m
@@ -346,9 +346,9 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [0   -0.5     0.5;
-           0    0.5     0.5;
-           r/R  r/(2*R) r/(2*R)];
+T_torso = [-0.5     0.5     0;
+            0.5     0.5     0;
+            r/(2*R) r/(2*R) r/R];
 
 if Config.INCLUDE_COUPLING