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#-----------------------------------------------------------------------------
#
# file: human-walk-trials.script
#
# Script to perform basic walking trials
#
#Perform balance trials with up vector RVs
#Trials use Q_d from [0.1,0] to [0.5,0] (Q_d = [Q_d_fwd,Q_d_lat])
#
# balance <#strides> <Q_tol1> <K1_max> <K1_sample> <RV1>:<elem1>\
#<Q_tol2> <K2_max> <K2_sample> <RV2>:<elem2>
#
#<max_strides>- desired # of strides
#
#<Q1_tol>- max. tolerable error in Q for 1st control dimension
#<K1_max>- max final perturbation scaling (dim 1)
#<K1_sample>- sample scalings (+/- K1_sample) (dim 1)
#<RV>:<elem>- RV type and component
#type:
#0 -> up vector
#1 -> stance-COM vector
#2 -> swing-COM vector
#
#component of RV
#0 -> forward component
#1 -> lateral component
#
#<Q_tol2>, <K2_max>, <K2_sample>, <RV2>, <elem2> as above but for 2nd
#control dimension.
#
#-----------------------------------------------------------------------------
< human.bones
set kfspring 25000# floor stiffness (Kp)
set kfdamp1500# floor stiffness (Kd)
set sddt 0.00025# simulation time-step
# base PCG for walking
set pcstates 6
posecycle poses 0
5 0 00 -50 0 60 -5 00 -10 000 070-3055 # r-foot
5 0 00 -50 0 60 -5 00 -10 000 070 -120.2
5 0 00 -20 005 00 -10 000 070 -12 -7.2
5 0 00 -10 000 00 -50 0 60 -5 0-307045 # l-foot
5 0 00 -10 000 00 -50 0 60 -5 0-12070.2
5 0 00 -10 000 00 -20 005 0-12 -770.2
set hinit 0,0,0,0,0,0,0,0,0,-5.1,-20,0,50,0,0,0,0,0,0 # initial pose
# all velocities are 0
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![[CONVERTED BY MYRMIDON]](Imgs/convBy.GIF)