✨ Introduces kinmatics config to sync mapping between variants

2025-09-04 18:02:38 +02:00
parent 0b5d7b1534
commit 1799889712
4 changed files with 78 additions and 20 deletions
@@ -11,7 +11,7 @@ class RestState : public GaitState {
        body_state.phi = 0;
        body_state.psi = 0;
        body_state.xm = 0;
-        body_state.ym = getDefaultHeight() / 2;
+        body_state.ym = KinConfig::default_body_height / 2;
        body_state.zm = 0;
        body_state.updateFeet(default_feet_pos);
    }