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Motion Configurations

This section provides configuration files that allow developers to adjust parameters for robot motions.

Upper Body Centroid Configuration

The following parameters can be modified in the file sonny.json.

  • File path /user/RoCS/bin/br:
    "mass"  ---  Upper body mass
"COM_x" --- Upper body centroid in X direction
"COM_y" --- Upper body centroid in the Y direction
"COM_z" --- Upper body centroid in Z direction

Walking Centroid Configuration

The following parameters can be modified in the file gait.json.

  • File path: /user/RoCS/bin/WalkPlan/Source:
    "poffset_x": The centroid in the x-direction when stepping
"poffset_y": The centroid in the y-direction when stepping
"poffset_z": The centroid in the z-direction when stepping
"vy_offset": The width of the feet apart when stepping

Warning

Motion parameters should be carefully configured to avoid unexpected situations!