### Default parameters loaded for all type 2 agents ### ######################## ### GETUP PARAMETERS ### ######################## # getup off front params - optimized for no self collisions getup_parms_stateDownInitialWait 0.5 getup_parms_stateDown3A1 47.4610405996882 getup_parms_stateDown3L3 104.58701666386462 getup_parms_stateDown3MinTime 0.04 getup_parms_stateDown5L1 -46.16626996041264 getup_parms_stateDown5MinTime 0.9 getup_parms_stateDown7L1 -8.174758505626324 getup_parms_stateDown7L3 66.7418834956474 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 -139.74945449732297 getup_parms_stateUp3A2 39.25063221342788 getup_parms_stateUp3A4 73.43239538646863 getup_parms_stateUp3L3 17.86850643399282 getup_parms_stateUp3MinTime 0.2 getup_parms_stateUp5L3 123.30024625855616 getup_parms_stateUp5MinTime 0.04 getup_parms_stateUp7L1 -38.67056678443029 getup_parms_stateUp7MinTime 0.2 getup_parms_stateUp9A1 56.9077493498944 getup_parms_stateUp9L1 -99.67874785395259 getup_parms_stateUp9L4 -33.532000140847295 getup_parms_stateUp9L5 -60.93062460878395 getup_parms_stateUp9L6 -70.7774560996261 getup_parms_stateUp9MinTime 0.2 getup_parms_stateUp11A1 45.0442618099886 getup_parms_stateUp11L1 -58.43623407729397 getup_parms_stateUp11L5 -93.22374982305332 getup_parms_stateUp11MinTime 0.4 getup_parms_stateUp13A1 -95.0269318603912 getup_parms_stateUp13L1 -13.040875418712943 getup_parms_stateUp13L3 48.91105714103771 getup_parms_stateUp13L4 -7.835010869903101 getup_parms_stateUp13L5 -59.141845254226816 getup_parms_stateUp13MinTime 0.04 getup_parms_stateUp15MinTime 0.6 ####################### ### KICK PARAMETERS ### ####################### kick_p1 -16.155321891055568 kick_p2 -118.94574002268958 kick_p3 -49.0573368618613 kick_p4 114.49734317000089 kick_p5 27.093511567801276 kick_p6 56.65895221759296 kick_p7 5.333153982193821 kick_p8 -7.881565931921614 kick_p9 -3.103131585235596 kick_p11 -1.2098751103915228 kick_p12 5.000775182873085 kick_p13 -6.017267272068568 kick_p14 3.6943627753113 kick_xoffset -0.16411604294659987 kick_yoffset -0.05 kick_scale1 6.483680425814427 kick_scale2 3.7629696858600292 kick_scale3 1.427020919469831 ################################# ### 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 1.4334029684506016 utwalk_max_step_size_x 188.3672476033237 utwalk_max_step_size_y 101.50014548282277 utwalk_shift_amount -18.250369857080912 utwalk_walk_height 232.98538358428863 utwalk_step_height 60.42918023513916 utwalk_fraction_still 0.05321199357333965 utwalk_fraction_on_ground -0.7888506445924227 utwalk_phase_length 0.0448837562360429 utwalk_default_com_pos_x -47.509227978648184 utwalk_pid_step_size_x 0.019600539451164974 utwalk_pid_step_size_y 0.05729341617681754 utwalk_pid_step_size_rot 0.07977702013496352 utwalk_max_normal_com_error -35.31432916993949 utwalk_max_acceptable_com_error 145.6468542047311 utwalk_fwd_offset 0.10614846471791811 utwalk_fwd_offset_factor 0.5881965176480436 utwalk_fraction_moving 0.6831197098033956 utwalk_fraction_in_air 1.6739521579648524 utwalk_swing_ankle_offset -0.06027579444559555 utwalk_pid_tilt -0.01781237530616678 utwalk_pid_roll 0.17175432973973306 utwalk_pid_com_x 1.3915113098858551 utwalk_pid_com_y 0.8485088262769881 utwalk_pid_com_z -0.20204972969327478 utwalk_pid_arm_x -0.4194139464825001 utwalk_pid_arm_y -0.2538344873898322 ##<--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 1.4334029684506016 pos_utwalk_max_step_size_x 188.3672476033237 pos_utwalk_max_step_size_y 101.50014548282277 pos_utwalk_shift_amount -18.250369857080912 pos_utwalk_walk_height 232.98538358428863 pos_utwalk_step_height 60.42918023513916 pos_utwalk_fraction_still 0.05321199357333965 pos_utwalk_fraction_on_ground -0.7888506445924227 pos_utwalk_phase_length 0.0448837562360429 pos_utwalk_default_com_pos_x -47.509227978648184 pos_utwalk_pid_step_size_x 0.019600539451164974 pos_utwalk_pid_step_size_y 0.05729341617681754 pos_utwalk_pid_step_size_rot 0.07977702013496352 pos_utwalk_max_normal_com_error -35.31432916993949 pos_utwalk_max_acceptable_com_error 145.6468542047311 pos_utwalk_fwd_offset 0.10614846471791811 pos_utwalk_fwd_offset_factor 0.5881965176480436 pos_utwalk_fraction_moving 0.6831197098033956 pos_utwalk_fraction_in_air 1.6739521579648524 pos_utwalk_swing_ankle_offset -0.06027579444559555 pos_utwalk_pid_tilt -0.01781237530616678 pos_utwalk_pid_roll 0.17175432973973306 pos_utwalk_pid_com_x 1.3915113098858551 pos_utwalk_pid_com_y 0.8485088262769881 pos_utwalk_pid_com_z -0.20204972969327478 pos_utwalk_pid_arm_x -0.4194139464825001 pos_utwalk_pid_arm_y -0.2538344873898322 ##<--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 2.494357540527233 app_utwalk_max_step_size_x 104.3757203589217 app_utwalk_max_step_size_y 159.38928916333188 app_utwalk_shift_amount -17.01319088600292 app_utwalk_walk_height 219.58475968855998 app_utwalk_step_height 71.19566161941542 app_utwalk_fraction_still 0.24852431363522712 app_utwalk_fraction_on_ground -0.7762872258330127 app_utwalk_phase_length 0.04134039859096437 app_utwalk_default_com_pos_x -69.57120307416017 app_utwalk_pid_step_size_x 0.11622260186093741 app_utwalk_pid_step_size_y 0.05547735966747566 app_utwalk_pid_step_size_rot 0.1276910695197559 app_utwalk_max_normal_com_error -6.678102010587821 app_utwalk_max_acceptable_com_error 202.3380012294417 app_utwalk_fwd_offset -5.074390718305334 app_utwalk_fwd_offset_factor 0.7543429776922196 app_utwalk_fraction_moving 0.6625831141708978 app_utwalk_fraction_in_air 1.8417109278291766 app_utwalk_swing_ankle_offset -0.13426995890217877 app_utwalk_pid_tilt 0.0428529701904648 app_utwalk_pid_roll 0.1811706152486411 app_utwalk_pid_com_x 1.3767754534308194 app_utwalk_pid_com_y 0.8505022730386051 app_utwalk_pid_com_z -0.2164029576260493 app_utwalk_pid_arm_x -0.28977951773581695 app_utwalk_pid_arm_y -0.35056541007888586 // Parameters for approaching the ball kick_gen_approach_turnDist 0.2746380969510346 kick_gen_approach_buff 0.33743214186481857 kick_gen_approach_estVelCorrection 0.07663597656595554 kick_gen_approach_navBallDist 0.5 kick_gen_approach_navBallCollision 0.333 //kick_gen_approach_navBallAngle 40.575364449933566 kick_gen_approach_navBallAngle 20.0 kick_gen_approach_maxDecelX 1.1764942631380784 kick_gen_approach_maxDecelY 0.5754931880185323 // Parameters for dribbling drib_coll_thresh 0.33582030312352373 drib_target 0.17785682250297227