knee thres

opti/config/OptiParams.cc

@@ -38,7 +38,7 @@ void OPTI_NAME::SetOpti()
 	stim_lower_walk->SetGVas( {25.0 ; 35.0} );
 	stim_lower_walk->SetLTaSw( {0.8 ; 0.9} );
 	stim_lower_walk->SetLTaSt( {0.55 ; 0.65} );
-	stim_lower_walk->SetPhiKT( {2.8 ; 3.14} );
+	stim_lower_walk->SetPhiKT( {0.0 ; 0.3} );
 	stim_lower_walk->SetKpTheta( {4.0 ; 10.0} );
 	stim_lower_walk->SetKdTheta( {0.2 ; 0.8} );
 

opti/templates/straight_adaptive_speed/OptiParams.cc

@@ -38,7 +38,7 @@ void OPTI_NAME::SetOpti()
 	stim_lower_walk->SetGVas( {25.0 ; 35.0} );
 	stim_lower_walk->SetLTaSw( {0.8 ; 0.9} );
 	stim_lower_walk->SetLTaSt( {0.55 ; 0.65} );
-	stim_lower_walk->SetPhiKT( {2.8 ; 3.14} );
+	stim_lower_walk->SetPhiKT( {0.0 ; 0.3} );
 	stim_lower_walk->SetKpTheta( {4.0 ; 10.0} );
 	stim_lower_walk->SetKdTheta( {0.2 ; 0.8} );
 

opti/templates/straight_single_speed/OptiParams.cc

@@ -38,7 +38,7 @@ void OPTI_NAME::SetOpti()
 	stim_lower_walk->SetGVas( {25.0 ; 35.0} );
 	stim_lower_walk->SetLTaSw( {0.8 ; 0.9} );
 	stim_lower_walk->SetLTaSt( {0.55 ; 0.65} );
-	stim_lower_walk->SetPhiKT( {2.8 ; 3.14} );
+	stim_lower_walk->SetPhiKT( {0.0 ; 0.3} );
 	stim_lower_walk->SetKpTheta( {4.0 ; 10.0} );
 	stim_lower_walk->SetKdTheta( {0.2 ; 0.8} );
 

userFiles/ctrl/neuromuscular/stimulations/specific_stim/walk/StimWalkCtrl.cc

@@ -126,7 +126,7 @@ StimWalkCtrl::StimWalkCtrl(CtrlInputs *inputs, WalkStates *ws, ForwardKinematics
 	G_vas    = 27.71188723;
 	l_ta_sw  = 0.85946329;
 	l_ta_st  = 0.62948339;
-	phi_k_t  = 3.06113505;
+	phi_k_t  = 0.26270854;
 	kp_theta = 8.03832121;
 	kd_theta = 0.65273761;
 

userFiles/simu/io/opti/generated/get_optiParams.cc

@@ -32,7 +32,7 @@ double convert_to_optiParams(std::vector<double> optiNorms)
 		case 5 : return (last_elem * 10.00000000 + 25.00000000);
 		case 6 : return (last_elem * 0.10000000 + 0.80000000);
 		case 7 : return (last_elem * 0.10000000 + 0.55000000);
-		case 8 : return (last_elem * 0.34000000 + 2.80000000);
+		case 8 : return (last_elem * 0.30000000 + 0.00000000);
 		case 9 : return (last_elem * 6.00000000 + 4.00000000);
 		case 10 : return (last_elem * 0.60000000 + 0.20000000);
 		case 11 : return (last_elem * 5.00000000 + 10.00000000);