param.dat

Step		0.001
UseStepFast 1
Iterations  30
#Step		0.02
Gravity		0	0.0	-100.0
# defaule 1e-10 for double, 1e-5 for single. values from 1e-9 to 1
# enlarge if simulation is erratic
GlobalCFM	1e-4
# ERP = h k_p / (h k_p + k_d)
# CFM = 1 / (h k_p + k_d)
GroundSoftERP	0.1
GroundSoftCFM	0.01
#GroundSoftERP	0.00049975012493753123
#GroundSoftCFM	0.49975012493753123438
MuGround	50.0
MuNonGround	5.0
# teeth must be a multiple of 4
SprocketTeeth	12
BodyMass	0.10
InitZ		2
# Link parts sizes
Box0Sides	0.14	0.073	0.2
Box1Sides	0.3	0.09	0.2
Box2Sides	0.2	0.1	0.1
Box3Sides	0.3	0.09	0.2
Box4Sides	0.14	0.073	0.2
Box5Sides	0.09	0.11	0.2
Box6Sides	0.09	0.11	0.2
# this is the outer part (the part that treads ground)
Box7Sides	0.3	0.5	0.1
# Sprocket teeth box size
TeethXYZ	0.25	0.1	0.1
#Spacer 		0.00005
Spacer 		0.0025
#Spacer		0.005
Radius		1
Height		0.1
TeethHFuzz	0.08
# Maximal force motor supplies to sprocket
MaxF		250
MaxSpeed	5
# Twitch behavior variables
TwitchHertz	16
# some testing parameters
Linear		0
ChangeLen	0
Start		8
Stop		23
TexturesPath	textures
# movie parameters. make sure you don't run out of disk space! (although this is linux, and nothing
# bad can happen - you'll just have some zero sized frames, one half sized frame, and some rm-ing to do)
MovieEventTime	0
MovieFinishTime 12
#LinkType	Box
UsePlainWheel	1