liboncilla-webots.config
ed9343d27142debian-lucid

liboncilla-webots.config
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			[simulation]
			debug-libwebots = false
			init-time = 1.0
			process-loop-time = 0.006

			[contact]

			bounce = 0.5
			bounce-velocity = 0.01
			coulomb = 1
			erp = 0.1
			cfm = 1e-05
			fds = 0.05
			draw = true


			[fore-leg]

			## cfm of the joint
			cfm = 2e-03 # (default value)
			## erp of the joint
			erp = 0.6 # (default value)
			## Diagonal spring property of the leg


			[fore-leg.diagonal-spring]

			## damping of the spring
			damping = 0 # (default value)
			## precompression of the spring
			precompression = 0.000 # (default value)
			## maximum length of the spring
			max-length = 0.0195 # (default value)
			## minimum length of the spring
			min-length = 0.000 # (default value)
			## precompression of the spring
			## stiffness of the spring
			stiffness = 3880 # (default value)


			[hind-leg]

			## cfm of the joint
			cfm = 2e-03 # (default value)
			## erp of the joint
			erp = 0.4 #0.6 # (default value)
			## Diagonal spring property of the leg
			max-speed = 0.5

			[hind-leg.diagonal-spring]

			## damping of the spring
			damping = 70.0 # (default value)
			## maximum length of the spring
			max-length = 0.021 # (default value)
			## minimum length of the spring
			min-length = 0.000 # (default value)
			## precompression of the spring
			precompression = 0.000 # (default value)
			## stiffness of the spring
			stiffness = 3880 # (default value)