merge conflict and readme update

old code was uploaded in the initial upload
changed everything with working programm and updated the readme

config.py

@@ -16,8 +16,10 @@ urdf_path = "JackBotUrdf.urdf"
 
 # Dimensions in m
 #robot_height = -0.1
-step_height = 0.05
-step_length = 0.08
+step_height = 0.03
+step_length = 0.04
+translation_gain = 1.0
+rotation_gain = 2.0
 # Leglength in m
 # L1 = 0.068
 # L2 = 0.0602
@@ -25,5 +27,5 @@ step_length = 0.08
 
 # standard_tickpersec = # 20 Fluessige Bewegung
 standard_tickpersec:float = 25 # [ticks/s]
-standard_duration:float = 0.4  # [s],ip
+standard_duration:float = 0.8  # [s]
 standard_tickduration:float = 1 / standard_tickpersec