initial commit

2026-10-22 09:23:54 +08:00
commit 63f557a39f
4448 changed files with 584487 additions and 0 deletions
@@ -0,0 +1,18 @@
+#include "control_parameters.h"
+
+void ControlParameters::GenerateM20Parameters(){
+    body_len_x_ = 0.3095*2;
+    body_len_y_ = 0.065*2;
+    hip_len_ = 0.104;
+    thigh_len_ = 0.25;
+    shank_len_ = 0.25;
+    pre_height_ = 0.12;
+    stand_height_ = 0.38;
+    swing_leg_kp_ << 200., 200., 200.;
+    swing_leg_kd_ << 4., 4., 4.;
+
+    fl_joint_lower_ << -0.4363, -2.443, -2.758;
+    fl_joint_upper_ << 0.6109, 2.443, 2.758;
+    joint_vel_limit_ << 45, 22.4, 22.4;
+    torque_limit_ << 32.4, 76.4, 76.4;
+}