# Horse Gallop Simulation - https://hemispheregames.com/eddybox_cs_ubc/
# Successful Trial Data:

	#poses: pose number = neck head left_shoulder left_antebrachium left_metacarpus left_digit_forelimb right_shoulder	right_antebrachium right_metacarpus right_digit_forelimb left_thigh left_crus left_matatarsus left_digit_hind_limb right_thigh_right_crus right_matatarsus right_digit_hind_limb
	pose 0 = 2.4532 1.5464 -1.4625 -0.091 -0.2009 -0.49 -1.797 -0.9092 0.4458 0.4497 -1.4379 0.7354 -0.2259 0.6216 -1.1829 0.5384 -0.7212 -0.8144
	pose 1 = 2.3242 1.4018 -1.2455 -0.1413 -0.3028 -0.8031 -1.6744 -0.6865 -0.0698 0.2382 -1.3863 1.2815 -0.425 1.1212 -1.3065 0.4354 -0.3429 -0.6052
	pose 2 = 2.1917 1.612 -1.2995 -0.1164 -0.0452 -0.8931 -1.824 -0.4957 -0.2951 0.096 -1.8592 1.6176 -0.9116 1.0888 -1.4491 0.1448 0.0517 0.8388
	pose 3 = 2.2225 1.4552 -1.3586 0.2413 0.2357 0.2218 -1.7229 0.0354 -0.2048 -0.7647 -1.8329 1.4343 -0.7992 1.0864 -1.7695 1.604 -1.3198 0.9839
	pose 4 = 2.0346 1.6072 -1.2576 -0.0141 1.3461 0.4864 -1.2786 -0.0149 -0.1905 -1.0972 -2.2831 1.4526 -1.9541 1.3409 -1.8611 1.8514 -1.4891 1.386
	pose 5 = 1.9722 1.8626 -1.2185 -0.7272 1.8344 0.6557 -0.9725 0.3009 0.0424 0.0194 -2.1208 1.2362 -1.7258 0.8751 -2.0324 1.6376 -1.6899 1.3035
	pose 6 = 1.9382 1.6368 -1.2955 -1.3999 2.1343 0.8662 -1.4654 0.0519 0.6775 0.6039 -2.1151 0.6916 -1.0855 0.6963 -2.1991 1.2699 -1.7082 1.252
	pose 7 = 2.0388 1.855 -1.5048 -1.5184 2.0071 0.6814 -1.5028 -0.6447 1.7856 0.744 -1.7795 0.5075 -0.9585 0.342 -2.3414 1.173 -1.6075 0.9649
	pose 8 = 2.2068 1.6833 -1.6586 -1.3015 1.3736 0.7034 -1.5752 -1.152 2.3837 1.2251 -1.7379 0.1185 -0.2723 -0.1068 -2.4802 0.6167 -1.0301 0.5876
	pose 9 = 2.2693 1.5597 -1.6078 -1.0931 0.7248 0.4481 -1.6597 -1.4075 1.9461 1.1379 -1.3368 0.4915 -0.8107 -0.0553 -2.2414 0.0745 -0.2749 0.3254
	pose 10 = 2.4121 1.4424 -1.5373 -0.7564 0.227 0.1263 -1.7493 -1.4394 1.5639 0.7566 -1.3619 0.8101 -0.8139 -0.7611 -1.8501 0.5085 -0.7853 -0.385
	pose 11 = 2.3244 1.0978 -1.6215 -0.1443 -0.2481 -0.4756 -1.7495 -1.1894 1.3503 0.4926 -1.025 0.4943 -0.5341 -0.0152 -1.7039 0.7274 -0.9199 -0.6437

	#initial state = x, y, vx, vy, angle of torso, angular velocity of torso, [angle, angular velocity of all limbs (same order)]
	state = 0 15.939 1.548 0 0 0 2.4532 0 1.5464 0 -1.4625 0 -0.091 0 -0.2009 0 -0.49 0 -1.797 0 -0.9092 0 0.4458 0 0.4497 0 -1.4379 0 0.7354 0 -0.2259 0 0.6216 0 -1.1829 0 0.5384 0 -0.7212 0 -0.8144 0
	
	#jointks/kd = torso neck head left_shoulder left_antebrachium left_metacarpus left_digit_forelimb right_shoulder	right_antebrachium right_metacarpus right_digit_forelimb left_thigh left_crus left_matatarsus left_digit_hind_limb right_thigh_right_crus right_matatarsus right_digit_hind_limb	
	jointks = 0 9662 7880 8175 7999 8525 7785 7144 6351 6378 8060 7448 8855 7158 7725 8215 7457 8556 10170
	jointkd = 0 28.289 27.332 28.994 28.321 28.54 28.42 27.336 28.77 27.917 28.349 27.977 25.565 25.474 28.984 28.46 28.023 27.866 26.015

	#dx = distance travelled
	dx = 418.448425

	# simulation time
	dtsim = 0.0002

	# DTpose time
	dtpose = 0.022
	
	# angular joint limits (beyond poses)
	djlimit = 2

	# ground stiffness and damping
	gspring = 21950
	gdamp = 3859

	simtime = 22.77