cassie

[1725917163]

Thank you very much for your work. I have a question to ask. If I train cassie robots now, how do I set "half_setting_pose"?

[rohanpsingh]

The "half-sitting-pose" is just another name for the nominal pose.
You can try the following values for cassie:

base_position = [0, 0, 1.01]
base_orientation = [1, 0, 0, 0]
nominal_pose = [
        # left:
        0.0045,      # left-hip-roll (motor)
        0.0,         # left-hip-yaw (motor)
        0.4973,      # left-hip-pitch (motor)
        0.9785, -0.0164, 0.01787, -0.2049,  # left-achilles-rod
        -1.1997,     # left-knee (motor)
        0.0,         # left-shin (joint)
        1.4267,      # left-tarsus (joint)
        0,           # left-heel-spring
        -1.5244,           # left-foot-crank
        1.5244,           # left-plantar-rod
        -1.5968,     # left-foot (motor) (joint)
        # right:
        -0.0045,     # right-hip-roll (motor)
        0.0,         # right-hip-yaw (motor)
        0.4973,      # right-hip-pitch (motor)
        0.9786, 0.00386, -0.01524, -0.2051,  # right-achilles-rod
        -1.1997,     # right-knee (motor)
        0.0,         # right-shin (joint)
        1.4267,      # right-tarsus (joint)
        0,           # right-heel-spring
        -1.5244,           # right-foot-crank
        1.5244,           # right-plantar-rod
        -1.5968,     # right-foot (motor) (joint)
] # radians