### Default parameters loaded for all type 3 agents ### ######################## ### GETUP PARAMETERS ### ######################## # default getup off front params - optimized for no self collisions getup_parms_stateDownInitialWait 0.5 getup_parms_stateDown3A1 31.373778672868006 getup_parms_stateDown3L3 132.04992361431232 getup_parms_stateDown3MinTime 0.04 getup_parms_stateDown5L1 -40.19865222799057 getup_parms_stateDown5MinTime 0.9 getup_parms_stateDown7L1 -5.303130226020178 getup_parms_stateDown7L3 61.27667080700868 getup_parms_stateDown7MinTime 0.3 getup_parms_stateDown10MinTime 0.8 # default getup off back params - optimized for no self collisions getup_parms_stateUpInitialWait 0.5 getup_parms_stateUp3A1 -74.19212693705215 getup_parms_stateUp3A2 22.059688990978437 getup_parms_stateUp3A4 -2.805504697930181 getup_parms_stateUp3L3 28.62816708004984 getup_parms_stateUp3MinTime 0.2 getup_parms_stateUp5L3 150.94279526388357 getup_parms_stateUp5MinTime 0.04 getup_parms_stateUp7L1 -77.42911633035874 getup_parms_stateUp7MinTime 0.2 getup_parms_stateUp9A1 7.430718528871051 getup_parms_stateUp9L1 -97.75479706018714 getup_parms_stateUp9L4 -117.6731135265411 getup_parms_stateUp9L5 -56.61496431999153 getup_parms_stateUp9L6 -12.254544769250895 getup_parms_stateUp9MinTime 0.2 getup_parms_stateUp11A1 -16.438083494272085 getup_parms_stateUp11L1 -140.85938039354576 getup_parms_stateUp11L5 -10.078725855976106 getup_parms_stateUp11MinTime 0.4 getup_parms_stateUp13A1 -134.62269922433833 getup_parms_stateUp13L1 4.809371288194855 getup_parms_stateUp13L3 58.230989205302535 getup_parms_stateUp13L4 -24.26206719200843 getup_parms_stateUp13L5 1.3567977261284696 getup_parms_stateUp13MinTime 0.04 getup_parms_stateUp15MinTime 0.6 ####################### ### KICK PARAMETERS ### ####################### kick_p1 -50.621274188520516 kick_p2 -96.48124266563154 kick_p3 -66.3674550430713 kick_p4 132.6079562207066 kick_p5 26.422265770856786 kick_p6 57.154201046228906 kick_p7 5.702358695662072 kick_p8 7.877504867837286 kick_p9 11.522796502849335 kick_p11 -36.71509862086306 kick_p12 20.61374682005677 kick_p13 -10.876276156708883 kick_p14 0.7449309633741266 kick_xoffset -0.2408393951668601 kick_yoffset -0.04 kick_scale1 11.670309819784594 kick_scale2 1.9954055020031927 kick_scale3 -7.5688666112202645 ################################# ### 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 0.8813862859288328 utwalk_max_step_size_x 107.3345416433581 utwalk_max_step_size_y 50.16358799467425 utwalk_shift_amount -9.645515001040701 utwalk_walk_height 147.687903533537 utwalk_step_height 74.16613093090523 utwalk_fraction_still 0.3530937822787453 utwalk_fraction_on_ground -0.09283692479214165 utwalk_phase_length 0.062418067271895444 utwalk_default_com_pos_x -41.23365401620529 utwalk_pid_step_size_x 0.016096422722122177 utwalk_pid_step_size_y 0.056713579216171206 utwalk_pid_step_size_rot 0.08683126580923822 utwalk_max_normal_com_error 13.88734219175688 utwalk_max_acceptable_com_error 97.61803550155396 utwalk_fwd_offset 2.138608744683571 utwalk_fwd_offset_factor 0.8920279682132857 utwalk_fraction_moving 0.6833323202812207 utwalk_fraction_in_air 1.2966717859105423 utwalk_swing_ankle_offset -0.011257119451918965 utwalk_pid_tilt 0.1911495121542667 utwalk_pid_roll -0.32542799483520296 utwalk_pid_com_x 1.3181352799362462 utwalk_pid_com_y 0.6439683323811424 utwalk_pid_com_z 0.10946655507451812 utwalk_pid_arm_x -0.04252457434628208 utwalk_pid_arm_y 0.19398407014957578 ##<--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 0.8813862859288328 pos_utwalk_max_step_size_x 107.3345416433581 pos_utwalk_max_step_size_y 50.16358799467425 pos_utwalk_shift_amount -9.645515001040701 pos_utwalk_walk_height 147.687903533537 pos_utwalk_step_height 74.16613093090523 pos_utwalk_fraction_still 0.3530937822787453 pos_utwalk_fraction_on_ground -0.09283692479214165 pos_utwalk_phase_length 0.062418067271895444 pos_utwalk_default_com_pos_x -41.23365401620529 pos_utwalk_pid_step_size_x 0.016096422722122177 pos_utwalk_pid_step_size_y 0.056713579216171206 pos_utwalk_pid_step_size_rot 0.08683126580923822 pos_utwalk_max_normal_com_error 13.88734219175688 pos_utwalk_max_acceptable_com_error 97.61803550155396 pos_utwalk_fwd_offset 2.138608744683571 pos_utwalk_fwd_offset_factor 0.8920279682132857 pos_utwalk_fraction_moving 0.6833323202812207 pos_utwalk_fraction_in_air 1.2966717859105423 pos_utwalk_swing_ankle_offset -0.011257119451918965 pos_utwalk_pid_tilt 0.1911495121542667 pos_utwalk_pid_roll -0.32542799483520296 pos_utwalk_pid_com_x 1.3181352799362462 pos_utwalk_pid_com_y 0.6439683323811424 pos_utwalk_pid_com_z 0.10946655507451812 pos_utwalk_pid_arm_x -0.04252457434628208 pos_utwalk_pid_arm_y 0.19398407014957578 ##<--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 1.5658540891438208 app_utwalk_max_step_size_x 85.62354786632908 app_utwalk_max_step_size_y 66.55493597447787 app_utwalk_shift_amount -25.717092988455377 app_utwalk_walk_height 155.97699610626586 app_utwalk_step_height 71.91317764128446 app_utwalk_fraction_still 0.5921224357178227 app_utwalk_fraction_on_ground 0.08241881050163216 app_utwalk_phase_length 0.043490336499228746 app_utwalk_default_com_pos_x -58.004414037674955 app_utwalk_pid_step_size_x 0.06898186727176964 app_utwalk_pid_step_size_y 0.09350623780104678 app_utwalk_pid_step_size_rot 0.09450837962573518 app_utwalk_max_normal_com_error 31.260652541852693 app_utwalk_max_acceptable_com_error 122.96900979391759 app_utwalk_fwd_offset 2.230735167695816 app_utwalk_fwd_offset_factor 0.9254865876701823 app_utwalk_fraction_moving 0.8705953612631807 app_utwalk_fraction_in_air 1.3892580307682738 app_utwalk_swing_ankle_offset 0.08832347939917858 app_utwalk_pid_tilt 0.3048680146143837 app_utwalk_pid_roll -0.3219664122442003 app_utwalk_pid_com_x 1.435720452879604 app_utwalk_pid_com_y 0.6129731132169935 app_utwalk_pid_com_z 0.03352964983107902 app_utwalk_pid_arm_x -0.10375221628374033 app_utwalk_pid_arm_y 0.23826286396901017 // Parameters for approaching the ball kick_gen_approach_turnDist 0.40892318003760225 kick_gen_approach_buff 0.02885478659767846 kick_gen_approach_estVelCorrection 0.09694944837908366 kick_gen_approach_navBallDist 0.5 kick_gen_approach_navBallCollision 0.333 //kick_gen_approach_navBallAngle 40.53921368439362 kick_gen_approach_navBallAngle 20.0 //kick_gen_approach_maxDecelX 0.6496963869244626 kick_gen_approach_maxDecelX 1.0 kick_gen_approach_maxDecelY 1.5491744047740306 // Parameters for dribbling drib_coll_thresh 0.33582030312352373 drib_target 0.17785682250297227