🚸 Update default feet positions

2025-06-30 22:00:26 +02:00
parent 753e692fe2
commit 3ee096bfab
2 changed files with 370 additions and 369 deletions
@@ -46,11 +46,11 @@ export default class Kinematic {
  constructor() {
    this.l1 = 60.5 / 100
    this.l2 = 10 / 100
-    this.l3 = 100.7 / 100
+    this.l3 = 111.7 / 100
    this.l4 = 118.5 / 100

-    this.L = 230 / 100
-    this.W = 75 / 100
+    this.L = 207.5 / 100
+    this.W = 78 / 100

    this.mountOffsets = [
      [this.L / 2, 0, this.W / 2],
@@ -60,6 +60,12 @@ export default class Kinematic {
    ]
  }

+  getDefaultFeetPos(): number[][] {
+    return this.mountOffsets.map((offset, i) => {
+      return [offset[0], -1, offset[2] + (i % 2 === 1 ? -this.l1 : this.l1)]
+    })
+  }
+
  calcIK(p: body_state_t): number[] {
    const roll = p.omega * this.DEG2RAD
    const pitch = p.phi * this.DEG2RAD