1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135

121

# ----- forward then lateral (F-L) 2d control


# hip pitch perturbations:

posecycle poses 1# right hip pitch
0 0 00 0 0 0 0 00 1 0 0 0 00 00 00
0 0 00 0 0 0 0 00 1 0 0 0 00 00 00
0 0 00 0 0 0 0 00 1 0 0 0 00 00 00
0 0 00 0 0 0 0 00 0 0 0 0 00 00 00
0 0 00 0 0 0 0 00 0 0 0 0 00 00 00
0 0 00 0 0 0 0 00 0 0 0 0 00 00 00

posecycle poses 2# left hip pitch
0 0 00 0 0 0 0 00 0 0 0 0 00 00 00
0 0 00 0 0 0 0 00 0 0 0 0 00 00 00
0 0 00 0 0 0 0 00 0 0 0 0 00 00 00
0 0 00 1 0 0 0 00 0 0 0 0 00 00 00
0 0 00 1 0 0 0 00 0 0 0 0 00 00 00
0 0 00 1 0 0 0 00 0 0 0 0 00 00 00


# hip roll perturbations:

posecycle poses 3# right hip roll
0 0 00 0 0 0 0 01 0 0 0 0 00 00 00
0 0 00 0 0 0 0 01 0 0 0 0 00 00 00
0 0 00 0 0 0 0 01 0 0 0 0 00 00 00
0 0 00 0 0 0 0 00 0 0 0 0 00 00 00
0 0 00 0 0 0 0 00 0 0 0 0 00 00 00
0 0 00 0 0 0 0 00 0 0 0 0 00 00 00

posecycle poses 4# left hip roll
0 0 00 0 0 0 0 00 0 0 0 0 00 00 00
0 0 00 0 0 0 0 00 0 0 0 0 00 00 00
0 0 00 0 0 0 0 00 0 0 0 0 00 00 00
0 0 01 0 0 0 0 00 0 0 0 0 00 00 00
0 0 01 0 0 0 0 00 0 0 0 0 00 00 00
0 0 01 0 0 0 0 00 0 0 0 0 00 00 00


# balance trials

set showfile basic-walk_upvect_FL_Q=[.1,0].out
set Q_d 0.1,0
balance 30 1 180 5 0:0 1 180 1 0:1

set showfile basic-walk_upvect_FL_Q=[.15,0].out
set Q_d 0.15,0
balance 30 1 180 5 0:0 1 180 1 0:1

set showfile basic-walk_upvect_FL_Q=[.2,0].out
set Q_d 0.2,0
balance 30 1 180 5 0:0 1 180 1 0:1

set showfile basic-walk_upvect_FL_Q=[.25,0].out
set Q_d 0.25,0
balance 30 1 180 5 0:0 1 180 1 0:1

set showfile tbasic-walk_upvect_FL_Q=[.3,0].out
set Q_d 0.3,0

[CONVERTED BY MYRMIDON]