# constants.txt
#
# This file holds various highly-tweakable scalar constants.

# gravity y component
Gravity_Y		-9

# simulation granularity -- a.k.a. the maximum timestep to simulate by
SimulationGranularity	0.01

# contact model parameters:
Stiffness		48.8
Damping			0.1
CoefFriction		-0.6
VelMax			0.001

# Luxo
LuxoBaseWidth		1.9
LuxoBaseHeight		0.4
LuxoBaseMass		0.3
LuxoLowerArmWidth	0.3
LuxoLowerArmLength	3.0
LuxoLowerArmMass	0.02
LuxoUpperArmWidth	0.3
LuxoUpperArmLength	3.0
LuxoUpperArmMass	0.12
LuxoHeadWidth		0.7
LuxoHeadLength		1.2
LuxoHeadMass		0.1
# Luxo proportional-derivative control parameters
LuxoLowerPDStiffness	32
LuxoLowerPDDamping	2
LuxoLowerPDMin		1.2
LuxoLowerPDMax		-1.2
LuxoUpperPDStiffness	32
LuxoUpperPDDamping	2
LuxoUpperPDMin		0
LuxoUpperPDMax		-2.82
