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# ----- 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
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![[CONVERTED BY MYRMIDON]](Imgs/convBy.GIF)