53 lines
1.1 KiB
JSON
53 lines
1.1 KiB
JSON
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{
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"dx": 0.0,
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"dy": 0.0,
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"dtheta": 0.0,
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"duration": 8,
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"hardware": true,
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"double_support_ratio": 0.2,
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"startend_double_support_ratio": 1.5,
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"planned_timesteps": 48,
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"replan_timesteps": 10,
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"walk_com_height": 0.2,
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"walk_foot_height": 0.02,
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"walk_trunk_pitch": 0,
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"walk_foot_rise_ratio": 0.3,
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"single_support_duration": 0.17,
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"single_support_timesteps": 10,
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"foot_length": 0.06,
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"feet_spacing": 0.16,
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"zmp_margin": 0.0,
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"foot_zmp_target_x": 0.0,
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"foot_zmp_target_y": 0.0,
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"walk_max_dtheta": 0.3,
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"walk_max_dy": 0.1,
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"walk_max_dx_forward": 0.08,
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"walk_max_dx_backward": 0.03,
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"joints": [
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"left_hip_yaw",
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"left_hip_roll",
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"left_hip_pitch",
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"left_knee",
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"left_ankle",
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"right_hip_yaw",
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"right_hip_roll",
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"right_hip_pitch",
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"right_knee",
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"right_ankle",
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"neck_pitch",
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"head_pitch",
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"head_yaw",
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"head_roll",
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"left_antenna",
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"right_antenna"
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],
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"joint_angles": {
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"neck_pitch": 0,
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"head_pitch": 0,
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"head_yaw": 0,
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"head_roll": 0,
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"left_antenna": 0,
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"right_antenna": 0
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}
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}
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