diff --git a/torque-controllers/momentum-based-standup/app/robots/iCubGenova02/initCoordinator.m b/torque-controllers/momentum-based-standup/app/robots/iCubGenova02/initCoordinator.m index 8f9a47a..0d49332 100644 --- 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 index 83afd8b..ff666d7 100644 --- 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 index 4434124..9716cf5 100644 --- 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 index f5b8b6f..61d3b43 100644 --- 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 index d60c09e..c95d95b 100644 --- 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 index 4b6a150..40dc339 100644 --- 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 index 8535b59..6bc4e84 100644 --- 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 index 1acacda..b804a12 100644 --- 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 index 741c0df..81e2d98 100644 --- 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 index ab6f0e1..d64f910 100644 --- 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 index e83e88b..3f78aa4 100644 --- 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 index befe7ec..32719a9 100644 --- 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