Rune Harlyk
39 lines
740 B
YAML
39 lines
740 B
YAML
# MEASURE
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# COM to Shoulder
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shoulder_length: 0.055
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# Shoulder to Elbow
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elbow_length: 0.10652
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# Elbow to Wrist
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wrist_length: 0.145
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# Forward Hip Separation
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hip_x: 0.23
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# Lateral Hip Separation
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hip_y: 0.075
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# ADJUSTABLE
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# Stance Length
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foot_x: 0.23
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# Stance Width
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foot_y: 0.185
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# Stance Height
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height: 0.20
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# Adjust for balanced walk
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com_offset: 0.0
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# Time Step
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dt: 0.001
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# Swing Period (lower is faster)
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Tswing: 0.2
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SwingPeriod_LIMITS: [0.1, 0.3]
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# Step Velocity (Using very low value as my main form of speed control is swing period)
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BaseStepVelocity: 0.001
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# Foot Clearance Height
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BaseClearanceHeight: 0.035
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ClearanceHeight_LIMITS: [0.0, 0.04]
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# Foot Penetration Depth
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BasePenetrationDepth: 0.003
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PenetrationDepth_LIMITS: [0.0, 0.02] |