quadruped_ros2_control/descriptions/xiaomi/cyberdog_description/config/ocs2/reference.info

targetDisplacementVelocity          0.4;
targetRotationVelocity              1.57;

comHeight                           0.28;

defaultJointState
{
      (0,0)   -0.10   ; FL_hip_joint
      (1,0)   0.72   ; FL_thigh_joint
      (2,0)  -1.44   ; FL_calf_joint
      (3,0)   0.10   ; FR_hip_joint
      (4,0)   0.72   ; FR_thigh_joint
      (5,0)  -1.44   ; FR_calf_joint
      (6,0)   -0.10   ; RL_hip_joint
      (7,0)   0.72   ; RL_thigh_joint
      (8,0)  -1.44   ; RL_calf_joint
      (9,0)   0.10   ; RR_hip_joint
      (10,0)  0.72   ; RR_thigh_joint
      (11,0) -1.44   ; RR_calf_joint
}

initialModeSchedule
{
  modeSequence
  {
    [0]  STANCE
    [1]  STANCE
  }
  eventTimes
  {
    [0]  0.5
  }
}

defaultModeSequenceTemplate
{
  modeSequence
  {
    [0]  STANCE
  }
  switchingTimes
  {
    [0]  0.0
    [1]  1.0
  }
}