### Default parameters loaded for all type 1 agents ### ######################## ### GETUP PARAMETERS ### ######################## # getup off front params - optimized for no self collisions getup_parms_stateDownInitialWait 0.5 getup_parms_stateDown3A1 16.568148350107915 getup_parms_stateDown3L3 113.41133450590875 getup_parms_stateDown3MinTime 0.04 getup_parms_stateDown5L1 -39.17965858391402 getup_parms_stateDown5MinTime 0.9 getup_parms_stateDown7L1 -8.232686646848567 getup_parms_stateDown7L3 62.10471861129633 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 -165.16130968225886 getup_parms_stateUp3A2 42.58511262180544 getup_parms_stateUp3A4 117.07281960213916 getup_parms_stateUp3L3 55.45054826070052 getup_parms_stateUp3MinTime 0.2 getup_parms_stateUp5L3 115.49895139205304 getup_parms_stateUp5MinTime 0.04 getup_parms_stateUp7L1 -68.1166661743677 getup_parms_stateUp7MinTime 0.2 getup_parms_stateUp9A1 46.81694893244553 getup_parms_stateUp9L1 -122.97859206412672 getup_parms_stateUp9L4 -37.42441472881181 getup_parms_stateUp9L5 -69.18081712780187 getup_parms_stateUp9L6 -86.80191982495745 getup_parms_stateUp9MinTime 0.2 getup_parms_stateUp11A1 42.78745493987175 getup_parms_stateUp11L1 -63.476728163679795 getup_parms_stateUp11L5 -92.55995382987949 getup_parms_stateUp11MinTime 0.4 getup_parms_stateUp13A1 -50.62380061268099 getup_parms_stateUp13L1 -27.678137746769536 getup_parms_stateUp13L3 18.485095263513564 getup_parms_stateUp13L4 14.273184019175599 getup_parms_stateUp13L5 -58.9003662416826 getup_parms_stateUp13MinTime 0.04 getup_parms_stateUp15MinTime 0.6 ####################### ### KICK PARAMETERS ### ####################### kick_p1 -21.878452192908963 kick_p2 -107.2655684773586 kick_p3 -46.03084224893723 kick_p4 122.50096005151583 kick_p5 36.70802042526406 kick_p6 74.34964372370875 kick_p7 -23.35326324263892 kick_p8 -1.411851711850464 kick_p9 4.8436144712052585 kick_p11 -12.878536016473056 kick_p12 8.73474032972045 kick_p13 -2.0087222938685585 kick_p14 2.4649510821897755 kick_xoffset -0.19721363030046984 kick_yoffset -0.05 kick_scale1 7.790202814460635 kick_scale2 5.980745105156915 kick_scale3 0.60539945683587 ################################# ### 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 0.8024586090513253 utwalk_max_step_size_x 108.7556110915902 utwalk_max_step_size_y 74.4935510327151 utwalk_shift_amount -18.294447081916328 utwalk_walk_height 149.02400810686044 utwalk_step_height 77.51792538836638 utwalk_fraction_still 0.3434245549175683 utwalk_fraction_on_ground -0.05778051267537769 utwalk_phase_length 0.06196439965990527 utwalk_default_com_pos_x -49.92404794567735 utwalk_pid_step_size_x 0.02913534549352995 utwalk_pid_step_size_y 0.040069251483028374 utwalk_pid_step_size_rot 0.08311984252228707 utwalk_max_normal_com_error 14.173965772864628 utwalk_max_acceptable_com_error 99.70250710214097 utwalk_fwd_offset 1.620534424237782 utwalk_fwd_offset_factor 0.8878126276949263 utwalk_fraction_moving 0.7066620087173812 utwalk_fraction_in_air 1.2265865010025827 utwalk_swing_ankle_offset -0.1276370985800854 utwalk_pid_tilt 0.23481727883696232 utwalk_pid_roll -0.13254176315494343 utwalk_pid_com_x 1.2839211224476685 utwalk_pid_com_y 0.710246393252769 utwalk_pid_com_z 0.09199521532665715 utwalk_pid_arm_x -0.28009850961801286 utwalk_pid_arm_y -0.15921680247098174 ##<--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 0.8024586090513253 pos_utwalk_max_step_size_x 108.7556110915902 pos_utwalk_max_step_size_y 74.4935510327151 pos_utwalk_shift_amount -18.294447081916328 pos_utwalk_walk_height 149.02400810686044 pos_utwalk_step_height 77.51792538836638 pos_utwalk_fraction_still 0.3434245549175683 pos_utwalk_fraction_on_ground -0.05778051267537769 pos_utwalk_phase_length 0.06196439965990527 pos_utwalk_default_com_pos_x -49.92404794567735 pos_utwalk_pid_step_size_x 0.02913534549352995 pos_utwalk_pid_step_size_y 0.040069251483028374 pos_utwalk_pid_step_size_rot 0.08311984252228707 pos_utwalk_max_normal_com_error 14.173965772864628 pos_utwalk_max_acceptable_com_error 99.70250710214097 pos_utwalk_fwd_offset 1.620534424237782 pos_utwalk_fwd_offset_factor 0.8878126276949263 pos_utwalk_fraction_moving 0.7066620087173812 pos_utwalk_fraction_in_air 1.2265865010025827 pos_utwalk_swing_ankle_offset -0.1276370985800854 pos_utwalk_pid_tilt 0.23481727883696232 pos_utwalk_pid_roll -0.13254176315494343 pos_utwalk_pid_com_x 1.2839211224476685 pos_utwalk_pid_com_y 0.710246393252769 pos_utwalk_pid_com_z 0.09199521532665715 pos_utwalk_pid_arm_x -0.28009850961801286 pos_utwalk_pid_arm_y -0.15921680247098174 ##<--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 1.9381533235593797 app_utwalk_max_step_size_x 71.63582250349182 app_utwalk_max_step_size_y 144.900163304773 app_utwalk_shift_amount -21.907349427837936 app_utwalk_walk_height 124.01200316628147 app_utwalk_step_height 73.61066724376514 app_utwalk_fraction_still 0.29939200115833986 app_utwalk_fraction_on_ground -0.18387526959605313 app_utwalk_phase_length 0.06807206697299917 app_utwalk_default_com_pos_x -0.4084305647968729 app_utwalk_pid_step_size_x 0.13707529143391334 app_utwalk_pid_step_size_y 0.046927757158147856 app_utwalk_pid_step_size_rot 0.12279629485746335 app_utwalk_max_normal_com_error 46.11273420905612 app_utwalk_max_acceptable_com_error 77.74540513509403 app_utwalk_fwd_offset 0.13176552428735822 app_utwalk_fwd_offset_factor 0.9684198651409902 app_utwalk_fraction_moving 0.6237845064716534 app_utwalk_fraction_in_air 1.317851312205039 app_utwalk_swing_ankle_offset -0.33789073267058567 app_utwalk_pid_tilt 0.3581152193771387 app_utwalk_pid_roll -0.23108588849633932 app_utwalk_pid_com_x 1.2931738443483614 app_utwalk_pid_com_y 0.48451991950515516 app_utwalk_pid_com_z 0.19893585988034976 app_utwalk_pid_arm_x -0.4310964222520728 app_utwalk_pid_arm_y -0.5753525616637605 // Parameters for approaching the ball kick_gen_approach_turnDist 0.22650837898147766 kick_gen_approach_buff 0.3335386081348905 kick_gen_approach_estVelCorrection -0.05248222665309938 kick_gen_approach_navBallDist 0.5 kick_gen_approach_navBallCollision 0.333 //kick_gen_approach_navBallAngle 22.878438874871343 kick_gen_approach_navBallAngle 20.0 kick_gen_approach_maxDecelX 0.7930036316433737 kick_gen_approach_maxDecelY 0.3368459512499765 // Parameters for dribbling drib_coll_thresh 0.33582030312352373 drib_target 0.17785682250297227