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doc: Mass of each leg (modeled as a point mass at the center of mass).
doc_units: kg
default_value: 5.0
min_value: 0.0
-
name: length_leg
doc: The length of each leg.
doc_units: m
default_value: 1.0
min_value: 0.0
-
name: center_of_mass_leg
doc: Distance from the hip to the center of mass of each leg.
doc_units: m
default_value: .5
min_value: 0.0
-
name: gravity
doc: An approximate value for gravitational acceleration.
doc_units: m/s^2
default_value: 9.81
min_value: 0.0
-
name: slope
doc: The angle of the ramp on which the compass gait is walking. Must have 0 <= slope < PI/2 so that forward == downhill (an assumption used in the foot collision witness function).