From a57926171a8f83dc6436e7d66a6c7e212f2ea7eb Mon Sep 17 00:00:00 2001 From: "jazz (gitea)" Date: Tue, 4 Aug 2026 00:58:36 -0500 Subject: [PATCH] W1: takes one step and kinda shuffles the other foot forward without falling --- dat/W1.m | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/dat/W1.m b/dat/W1.m index 78e7d11..b1107b1 100644 --- a/dat/W1.m +++ b/dat/W1.m @@ -20,9 +20,8 @@ q = 0 : 1: COUNT - 1; % set precision. e.g. q = 0 : 0.001 : COUNT-1; for 1e-3 pr %% TRACKS: Left Leg Joints X, Y, Z%% tr_LHipY = [0, -0.14 * pi, -0.14 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi]; % positive: move foot back -tr_LHipX = zeros(1, COUNT); % pos: move foot inward +tr_LHipX = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: move foot inward tr_LHipZ = zeros(1, COUNT); % pos: move knee left (c-clockw) - % ^ same as [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] tr_LKneeY = [0, 0.375 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi]; % pos: bend knee normally @@ -30,9 +29,9 @@ tr_LAnkleY = [0, -0.2 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.2 tr_LAnkleX = [0, 0, 0, 0, 0, 0, 0, 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, -0.14 * pi, -0.14 * pi, -0.14 * pi, -0.14 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi]; % positive: move leg back +tr_RHipY = [0, -0.14 * pi, -0.14 * pi, -0.14 * pi, -0.14 * pi, -0.28 * pi, -0.42 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi]; % positive: move leg back tr_RHipX = [0, 0, 0, -0.05 * pi, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: mv foot in -tr_RHipZ = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: mv c-clockw +tr_RHipZ = zeros(1, COUNT); % pos: mv c-clockw tr_RKneeY = [0, 0.375 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi]; % pos: bend knee