43 lines
925 B
Python
43 lines
925 B
Python
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import numpy as np
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mujoco_init_pos = np.array(
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[
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# right_leg
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0.013627156377842975,
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0.07738878096596595,
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0.5933527914082196,
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-1.630548419252953,
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0.8621333440557593,
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# left leg
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-0.013946457213457239,
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0.07918837709879874,
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0.5325073962634973,
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-1.6225192902713386,
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0.9149246381274986,
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# head
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-0.17453292519943295,
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-0.17453292519943295,
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8.65556854322817e-27,
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0,
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0,
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]
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)
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id_to_dof = {
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0: "right_hip_yaw",
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1: "right_hip_roll",
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2: "right_hip_pitch",
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3: "right_knee",
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4: "right_ankle",
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5: "left_hip_yaw",
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6: "left_hip_roll",
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7: "left_hip_pitch",
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8: "left_knee",
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9: "left_ankle",
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10: "neck_pitch",
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11: "head_pitch",
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12: "head_yaw",
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13: "left_antenna",
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14: "right_antenna",
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}
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dof_to_id = {v: k for k, v in id_to_dof.items()}
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