fixed again torso coupling matrix

dbdxnuliba · Oct 9, 2018 · 94e1a9f · 94e1a9f
1 parent 7446771
commit 94e1a9f
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Showing 12 changed files with 13 additions and 13 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
@@ -126,7 +126,7 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [-0.5     0.5     0;
+T_torso = [ 0.5    -0.5     0;
             0.5     0.5     0;
             r/(2*R) r/(2*R) r/R];
 

diff --git a/torque-controllers/momentum-based-standup/app/robots/iCubGenova02/initStateMachineStandup.m b/torque-controllers/momentum-based-standup/app/robots/iCubGenova02/initStateMachineStandup.m
@@ -157,7 +157,7 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [-0.5     0.5     0;
+T_torso = [ 0.5    -0.5     0;
             0.5     0.5     0;
             r/(2*R) r/(2*R) r/R];
 

diff --git a/torque-controllers/momentum-based-standup/app/robots/icubGazeboSim/initCoordinator.m b/torque-controllers/momentum-based-standup/app/robots/icubGazeboSim/initCoordinator.m
@@ -126,7 +126,7 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [-0.5     0.5     0;
+T_torso = [ 0.5    -0.5     0;
             0.5     0.5     0;
             r/(2*R) r/(2*R) r/R];
 

diff --git a/torque-controllers/momentum-based-standup/app/robots/icubGazeboSim/initStateMachineStandup.m b/torque-controllers/momentum-based-standup/app/robots/icubGazeboSim/initStateMachineStandup.m
@@ -157,7 +157,7 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [-0.5     0.5     0;
+T_torso = [ 0.5    -0.5     0;
             0.5     0.5     0;
             r/(2*R) r/(2*R) r/R];
 

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
@@ -115,10 +115,10 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [-0.5     0.5     0;
+T_torso = [ 0.5    -0.5     0;
             0.5     0.5     0;
             r/(2*R) r/(2*R) r/R];
-
+        
 if Config.INCLUDE_COUPLING
 
     Config.T = blkdiag(T_torso,T_LShoulder,1,T_RShoulder,1,eye(12));

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
@@ -460,7 +460,7 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [-0.5     0.5     0;
+T_torso = [ 0.5    -0.5     0;
             0.5     0.5     0;
             r/(2*R) r/(2*R) r/R];
 

diff --git a/torque-controllers/momentum-based-yoga/app/robots/iCubGenova02/initCoordinator.m b/torque-controllers/momentum-based-yoga/app/robots/iCubGenova02/initCoordinator.m
@@ -115,7 +115,7 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [-0.5     0.5     0;
+T_torso = [ 0.5    -0.5     0;
             0.5     0.5     0;
             r/(2*R) r/(2*R) r/R];
 

diff --git a/torque-controllers/momentum-based-yoga/app/robots/iCubGenova02/initStateMachineYoga.m b/torque-controllers/momentum-based-yoga/app/robots/iCubGenova02/initStateMachineYoga.m
@@ -462,7 +462,7 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [-0.5     0.5     0;
+T_torso = [ 0.5    -0.5     0;
             0.5     0.5     0;
             r/(2*R) r/(2*R) r/R];
 

diff --git a/torque-controllers/momentum-based-yoga/app/robots/iCubGenova04/initCoordinator.m b/torque-controllers/momentum-based-yoga/app/robots/iCubGenova04/initCoordinator.m
@@ -115,7 +115,7 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [-0.5     0.5     0;
+T_torso = [ 0.5    -0.5     0;
             0.5     0.5     0;
             r/(2*R) r/(2*R) r/R];
 

diff --git a/torque-controllers/momentum-based-yoga/app/robots/iCubGenova04/initStateMachineYoga.m b/torque-controllers/momentum-based-yoga/app/robots/iCubGenova04/initStateMachineYoga.m
@@ -465,7 +465,7 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [-0.5     0.5     0;
+T_torso = [ 0.5    -0.5     0;
             0.5     0.5     0;
             r/(2*R) r/(2*R) r/R];
 

diff --git a/torque-controllers/momentum-based-yoga/app/robots/icubGazeboSim/initCoordinator.m b/torque-controllers/momentum-based-yoga/app/robots/icubGazeboSim/initCoordinator.m
@@ -115,7 +115,7 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [-0.5     0.5     0;
+T_torso = [ 0.5    -0.5     0;
             0.5     0.5     0;
             r/(2*R) r/(2*R) r/R];
 

diff --git a/torque-controllers/momentum-based-yoga/app/robots/icubGazeboSim/initStateMachineYoga.m b/torque-controllers/momentum-based-yoga/app/robots/icubGazeboSim/initStateMachineYoga.m
@@ -346,7 +346,7 @@
                 1  t  0;
                 0 -t  t];
 
-T_torso = [-0.5     0.5     0;
+T_torso = [ 0.5    -0.5     0;
             0.5     0.5     0;
             r/(2*R) r/(2*R) r/R];