From 585e44ffc5194e2ef2ea87bf0f6eb70436027e44 Mon Sep 17 00:00:00 2001 From: "jazz (gitea)" Date: Mon, 27 Jul 2026 01:14:38 -0500 Subject: [PATCH] zero the joint position tracks again. im lost --- dat/Limbs2.m | 18 ++++++++++-------- t1b.slx | Bin 451187 -> 452779 bytes 2 files changed, 10 insertions(+), 8 deletions(-) diff --git a/dat/Limbs2.m b/dat/Limbs2.m index 0b620ea..afbd585 100644 --- a/dat/Limbs2.m +++ b/dat/Limbs2.m @@ -17,26 +17,28 @@ q = 0 : 0.001: END; % in radians. Each array corresponds to a degree of freedom. The length % of each array is to be equal to the value of END plus 1. -% TRACKS: Left Leg Joints X, Y, Z -tr_LHipY = [0, -0.7, -1, -1.5, -2, -3, -3, -3, -3]; % positive: move foot back +%% TRACKS: Left Leg Joints X, Y, Z%% +tr_LHipY = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % positive: move foot back tr_LHipX = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: move foot inward tr_LHipZ = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: move knee left (c-clockw) -tr_LKneeY = [0, 0.7, 1, 1.5, 2, 2, 2, 2, 2]; % pos: bend knee normally +tr_LKneeY = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: bend knee normally -tr_LAnkleY = [0, -0.4, -0.6, -0.6, -0.6, -0.6, -0.6, -0.6, -0.6]; % pos: point toes down (pitch) +tr_LAnkleY = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: point toes down (pitch) tr_LAnkleX = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: right side of foot down -% TRACKS: Right Leg Joints X, Y, Z -tr_RHipY = [0, -0.7, -1, -1.5, -2, -3, -3, -3, -3]; % positive: move leg back +%% TRACKS: Right Leg Joints X, Y, Z%% +tr_RHipY = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % positive: move leg back tr_RHipX = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: mv foot in tr_RHipZ = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: mv c-clockw -tr_RKneeY = [0, 0.7, 1, 1.5, 2, 2, 2, 2, 2]; % pos: bend knee +tr_RKneeY = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: bend knee -tr_RAnkleY = [0, -0.4, -0.6, -0.6, -0.6, -0.6, -0.6, -0.6, -0.6]; % pos: toes down +tr_RAnkleY = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: toes down tr_RAnkleX = [0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: right side down +% The rest of this script does not need to be modified by hand. + % interp's, left leg it_LHipY = interp1(t, tr_LHipY, q, 'spline')'; it_LHipZ = interp1(t, tr_LHipZ, q, 'spline')'; diff --git a/t1b.slx b/t1b.slx index a79cc7362bf244999d5b5ca796b83e3a7e086143..5c0b629ddbd2fa685bdee5457df79c6ced31d91f 100644 GIT binary patch delta 19222 zcmc(H2RxVI+waf%kxgWeq*7*fMMg$aMzVJU2~o0nP_mLDejy2!5VB>@l)d+s5n0*$ zTo3>Md(L}4=l?n9yr1_yr;o<{JkR~y_j8Zy`d;7bd$(N8lG@6`sG&+gNQXK6bsRJ5 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