### Default parameters loaded for all type 0 agents ### ######################## ### GETUP PARAMETERS ### ######################## # getup off front params - optimized for no self collisions getup_parms_stateDownInitialWait 0.5 getup_parms_stateDown3A1 51.67747278227646 getup_parms_stateDown3L3 131.7535106037132 getup_parms_stateDown3MinTime 0.04 getup_parms_stateDown5L1 -45.61543864318751 getup_parms_stateDown5MinTime 0.9 getup_parms_stateDown7L1 7.146660948143131 getup_parms_stateDown7L3 64.86293984615665 getup_parms_stateDown7MinTime 0.3 getup_parms_stateDown10MinTime 0.8 # getup off back params - optimized for no self collisions getup_parms_stateUpInitialWait 0.5 getup_parms_stateUp3A1 -137.82661679105144 getup_parms_stateUp3A2 47.75746255861538 getup_parms_stateUp3A4 62.08845222070459 getup_parms_stateUp3L3 20.129514885250764 getup_parms_stateUp3MinTime 0.2 getup_parms_stateUp5L3 118.20227245026733 getup_parms_stateUp5MinTime 0.04 getup_parms_stateUp7L1 -28.310230075504645 getup_parms_stateUp7MinTime 0.2 getup_parms_stateUp9A1 46.60215905763356 getup_parms_stateUp9L1 -90.29680084623156 getup_parms_stateUp9L4 -45.66593008367499 getup_parms_stateUp9L5 -47.3966607282542 getup_parms_stateUp9L6 -63.76376603815571 getup_parms_stateUp9MinTime 0.2 getup_parms_stateUp11A1 3.592540038790991 getup_parms_stateUp11L1 -60.16186063609875 getup_parms_stateUp11L5 -66.94418816067675 getup_parms_stateUp11MinTime 0.4 getup_parms_stateUp13A1 -95.06021619327173 getup_parms_stateUp13L1 -27.726371071345866 getup_parms_stateUp13L3 33.044752335210546 getup_parms_stateUp13L4 -29.541237439782954 getup_parms_stateUp13L5 -26.379841635865372 getup_parms_stateUp13MinTime 0.04 getup_parms_stateUp15MinTime 0.6 ################################# ### OPTIMIZED WALK PARAMETERS ### ################################# ##<--Walk parameters for going to a target-->## /* These values are not UT Austin Villa's regular walking to target parameters, instead the team's parameters for positioning and dribbling are used as a placeholder. See the following paper for how these parameters were optimized: --- Design and Optimization of an Omnidirectional Humanoid Walk: A Winning Approach at the RoboCup 2011 3D Simulation Competition. Patrick MacAlpine, Samuel Barrett, Daniel Urieli, Victor Vu, and Peter Stone. In Proceedings of the Twenty-Sixth AAAI Conference on Artificial Intelligence (AAAI), July 2012. --- */ utwalk_max_step_size_angle 0.8545494920155963 utwalk_max_step_size_x 97.3370999925245 utwalk_max_step_size_y 86.05383913184158 utwalk_shift_amount -6.28025527312195 utwalk_walk_height 164.73062881817913 utwalk_step_height 99.78154903105181 utwalk_fraction_still 0.3335746450599291 utwalk_fraction_on_ground -0.02207231908990039 utwalk_phase_length 0.06252433781071613 utwalk_default_com_pos_x -0.03388678863233263 utwalk_pid_step_size_x 0.015223307475066804 utwalk_pid_step_size_y 0.049536000043868426 utwalk_pid_step_size_rot 0.10935016019620925 utwalk_max_normal_com_error 29.541917028506017 utwalk_max_acceptable_com_error 168.19797533625513 utwalk_fwd_offset 5.383050376364819 utwalk_fwd_offset_factor 1.186447305495243 utwalk_fraction_moving 0.701917533891856 utwalk_fraction_in_air 1.1229075969791498 utwalk_swing_ankle_offset -0.12017916982142124 utwalk_pid_tilt 0.19220698479426948 utwalk_pid_roll 0.0683336940436052 utwalk_pid_com_x 1.3388420239842675 utwalk_pid_com_y 1.0002121242348725 utwalk_pid_com_z 0.04401545283135938 utwalk_pid_arm_x -0.25099065181854435 utwalk_pid_arm_y -0.24379385047916316 ##<--Walk parameters for positioning/dribbling-->## /* See the following paper for how these parameters were optimized: --- Design and Optimization of an Omnidirectional Humanoid Walk: A Winning Approach at the RoboCup 2011 3D Simulation Competition. Patrick MacAlpine, Samuel Barrett, Daniel Urieli, Victor Vu, and Peter Stone. In Proceedings of the Twenty-Sixth AAAI Conference on Artificial Intelligence (AAAI), July 2012. --- */ pos_utwalk_max_step_size_angle 0.8545494920155963 pos_utwalk_max_step_size_x 97.3370999925245 pos_utwalk_max_step_size_y 86.05383913184158 pos_utwalk_shift_amount -6.28025527312195 pos_utwalk_walk_height 164.73062881817913 pos_utwalk_step_height 99.78154903105181 pos_utwalk_fraction_still 0.3335746450599291 pos_utwalk_fraction_on_ground -0.02207231908990039 pos_utwalk_phase_length 0.06252433781071613 pos_utwalk_default_com_pos_x -0.03388678863233263 pos_utwalk_pid_step_size_x 0.015223307475066804 pos_utwalk_pid_step_size_y 0.049536000043868426 pos_utwalk_pid_step_size_rot 0.10935016019620925 pos_utwalk_max_normal_com_error 29.541917028506017 pos_utwalk_max_acceptable_com_error 168.19797533625513 pos_utwalk_fwd_offset 5.383050376364819 pos_utwalk_fwd_offset_factor 1.186447305495243 pos_utwalk_fraction_moving 0.701917533891856 pos_utwalk_fraction_in_air 1.1229075969791498 pos_utwalk_swing_ankle_offset -0.12017916982142124 pos_utwalk_pid_tilt 0.19220698479426948 pos_utwalk_pid_roll 0.0683336940436052 pos_utwalk_pid_com_x 1.3388420239842675 pos_utwalk_pid_com_y 1.0002121242348725 pos_utwalk_pid_com_z 0.04401545283135938 pos_utwalk_pid_arm_x -0.25099065181854435 pos_utwalk_pid_arm_y -0.24379385047916316 ##<--Walk parameters for approaching the ball to kick-->## /* See the following paper for how these parameters were optimized: --- UT Austin Villa: RoboCup 2014 3D Simulation League Competition and Technical Challenge Champions. Patrick MacAlpine, Mike Depinet, Jason Liang, and Peter Stone. In RoboCup-2014: Robot Soccer World Cup XVIII, Lecture Notes in Artificial Intelligence, Springer Verlag, Berlin, 2015. --- */ app_utwalk_max_step_size_angle 1.914342301823827 app_utwalk_max_step_size_x 77.82161854283214 app_utwalk_max_step_size_y 120.0385739568059 app_utwalk_shift_amount -24.87050644857127 app_utwalk_walk_height 130.04739372718288 app_utwalk_step_height 69.38612254085031 app_utwalk_fraction_still 0.3462118423649482 app_utwalk_fraction_on_ground -0.10841176091636043 app_utwalk_phase_length 0.06514615189378256 app_utwalk_default_com_pos_x 4.235859304091463 app_utwalk_pid_step_size_x 0.08002602229080781 app_utwalk_pid_step_size_y 0.05881124297085935 app_utwalk_pid_step_size_rot 0.11852037059223865 app_utwalk_max_normal_com_error 2.0271579821217482 app_utwalk_max_acceptable_com_error 163.40869269758235 app_utwalk_fwd_offset 5.697692970887522 app_utwalk_fwd_offset_factor 1.0967555332068983 app_utwalk_fraction_moving 0.5962830272751801 app_utwalk_fraction_in_air 1.2489745680191913 app_utwalk_swing_ankle_offset -0.11628068587478745 app_utwalk_pid_tilt 0.19416815389258132 app_utwalk_pid_roll 0.023839190106379415 app_utwalk_pid_com_x 1.5924070229564757 app_utwalk_pid_com_y 0.845651433093578 app_utwalk_pid_com_z 0.14853330612892843 app_utwalk_pid_arm_x -0.3295152103093948 app_utwalk_pid_arm_y -0.31023556762286403 // Parameters for approaching the ball kick_gen_approach_turnDist 0.2729319251266597 kick_gen_approach_buff 0.010340912721421135 kick_gen_approach_estVelCorrection -0.10445818587148002 kick_gen_approach_navBallDist 0.5 kick_gen_approach_navBallCollision 0.333 //kick_gen_approach_navBallAngle 37.67637845256782 kick_gen_approach_navBallAngle 20.0 kick_gen_approach_maxDecelX 0.75 kick_gen_approach_maxDecelY 0.8861122500586298 // Parameters for dribbling drib_coll_thresh 0.33582030312352373 drib_target 0.17785682250297227