Tune walking (#1313)

* tune walking * tune walking faster * --wip-- * tune walking lower
HULKs · Jul 18, 2024 · f961060 · f961060
1 parent 1e197ee
commit f961060
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/etc/parameters/default.json b/etc/parameters/default.json
@@ -420,15 +420,15 @@
     "base": {
       "foot_lift_apex": 0.008,
       "foot_lift_apex_increase": {
-        "forward": 0.18,
+        "forward": 0.1,
         "left": 0.17,
         "turn": 0.025
       },
       "foot_offset_left": [0.0, 0.05, 0.0],
       "foot_offset_right": [0.0, -0.05, 0.0],
       "step_duration": { "nanos": 260000000, "secs": 0 },
       "step_duration_increase": {
-        "forward": 0.0,
+        "forward": 0.3,
         "left": 0.3,
         "turn": 0.1
       },
@@ -478,7 +478,7 @@
       "step_duration": { "nanos": 200000000, "secs": 0 }
     },
     "step_midpoint": {
-      "forward": 0.5,
+      "forward": 0.38,
       "left": 0.35,
       "turn": 0.5
     },