47 lines
785 B
Plaintext
47 lines
785 B
Plaintext
targetDisplacementVelocity 0.5;
|
|
targetRotationVelocity 1.57;
|
|
|
|
comHeight 0.33
|
|
|
|
defaultJointState
|
|
{
|
|
(0,0) -0.1 ; FL_hip_joint
|
|
(1,0) 0.8 ; FL_thigh_joint
|
|
(2,0) -1.44 ; FL_calf_joint
|
|
(3,0) 0.1 ; FR_hip_joint
|
|
(4,0) 0.8 ; FR_thigh_joint
|
|
(5,0) -1.44 ; FR_calf_joint
|
|
(6,0) -0.1 ; RL_hip_joint
|
|
(7,0) 0.8 ; RL_thigh_joint
|
|
(8,0) -1.44 ; RL_calf_joint
|
|
(9,0) 0.1 ; RR_hip_joint
|
|
(10,0) 0.8 ; 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
|
|
}
|
|
}
|