🐹 Fixes crawl gait body shift order

2024-10-27 11:43:48 +01:00
parent 7849f77712
commit 7dd5797481
2 changed files with 3 additions and 3 deletions
@@ -237,9 +237,9 @@ export class EightPhaseWalkState extends PhaseGaitState {
    ];
    protected shifts = [
        [-0.05, 0, -0.2],
-        [0.3, 0, -0.2],
+        [0.3, 0, 0.2],
        [-0.05, 0, 0.2],
-        [0.3, 0, 0.2]
+        [0.3, 0, -0.2]
    ];
    protected swing_stand_ratio = 1 / (this.num_phases - 1);