### Default parameters loaded for all type 4 agents ### ######################## ### GETUP PARAMETERS ### ######################## # default getup off front params - optimized for no self collisions getup_parms_stateDownInitialWait 0.5 getup_parms_stateDown3A1 50.98021756053253 getup_parms_stateDown3L3 126.1220933612166 getup_parms_stateDown3MinTime 0.04 getup_parms_stateDown5L1 -48.00207256772667 getup_parms_stateDown5MinTime 0.9 getup_parms_stateDown7L1 -22.340860939025024 getup_parms_stateDown7L3 63.33360057004941 getup_parms_stateDown7MinTime 0.3 getup_parms_stateDown10MinTime 0.8 getup_parms_stateDown3L7 10.434125629408747 getup_parms_stateDown5L7 -24.614475691676574 getup_parms_stateDown7L7 -25.565997236105442 # default getup off back params - optimized for no self collisions getup_parms_stateUpInitialWait 0.5 getup_parms_stateUp3A1 -160.48868850844917 getup_parms_stateUp3A2 43.87852475409584 getup_parms_stateUp3A4 47.107544084593684 getup_parms_stateUp3L3 15.740604821659796 getup_parms_stateUp3MinTime 0.2 getup_parms_stateUp5L3 132.27670902584242 getup_parms_stateUp5MinTime 0.04 getup_parms_stateUp7L1 -33.46492505628697 getup_parms_stateUp7MinTime 0.2 getup_parms_stateUp9A1 35.11715155456652 getup_parms_stateUp9L1 -93.41203497109993 getup_parms_stateUp9L4 -42.02538707170181 getup_parms_stateUp9L5 -74.20809920914384 getup_parms_stateUp9L6 -45.011664557354386 getup_parms_stateUp9MinTime 0.2 getup_parms_stateUp11A1 12.335079113997592 getup_parms_stateUp11L1 -59.73823689637007 getup_parms_stateUp11L5 -75.30629507279436 getup_parms_stateUp11MinTime 0.4 getup_parms_stateUp13A1 -92.92376016195993 getup_parms_stateUp13L1 -19.862994508032 getup_parms_stateUp13L3 6.715020876796658 getup_parms_stateUp13L4 9.198657450095972 getup_parms_stateUp13L5 -45.49461773853202 getup_parms_stateUp13MinTime 0.04 getup_parms_stateUp15MinTime 0.6 getup_parms_stateUp3L7 -13.906519868066766 getup_parms_stateUp5L7 -13.153693919511753 getup_parms_stateUp7L7 11.047229348390086 getup_parms_stateUp9L7 -24.75948253132887 getup_parms_stateUp11L7 -47.26657398170224 getup_parms_stateUp13L7 11.057355562206059 ####################### ### KICK PARAMETERS ### ####################### kick_p1 -32.094281611172875 kick_p2 -113.02038630123421 kick_p3 -49.1365943090734 kick_p4 61.30813011871579 kick_p5 -4.6329924876882105 kick_p6 73.59068768840461 kick_p7 20.779448282962882 kick_p8 -42.22550356922419 kick_p9 -2.8401506218779002 kick_p11 0.6189762791149791 kick_p12 -20.81360432334142 kick_p13 -14.693326697129498 kick_p14 3.5631094823005673 kick_xoffset -0.19897997275908952 kick_yoffset -0.05 kick_scale1 9.801689052827003 kick_scale2 4.424037939123943 kick_scale3 6.549362013596022 ################################# ### 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 1.4416743787331532 utwalk_max_step_size_x 129.67178389884145 utwalk_max_step_size_y 85.43441476881097 utwalk_shift_amount -19.072626978466474 utwalk_walk_height 163.95395297542038 utwalk_step_height 69.79970029038759 utwalk_fraction_still 0.40058559009258865 utwalk_fraction_on_ground -0.07608397347587026 utwalk_phase_length 0.053301855324310365 utwalk_default_com_pos_x -40.86281474359965 utwalk_pid_step_size_x 0.006198869625225386 utwalk_pid_step_size_y 0.040101946437072676 utwalk_pid_step_size_rot 0.08796723262607366 utwalk_max_normal_com_error 49.639790156128214 utwalk_max_acceptable_com_error 111.3508671336916 utwalk_fwd_offset 4.371051281858148 utwalk_fwd_offset_factor 0.9594908821212534 utwalk_fraction_moving 0.7253595129902992 utwalk_fraction_in_air 1.200986438627392 utwalk_swing_ankle_offset -0.006622006376079897 utwalk_pid_tilt 0.1479888663812478 utwalk_pid_roll 0.07538683013099545 utwalk_pid_com_x 1.2925753195941794 utwalk_pid_com_y 0.8501332782115112 utwalk_pid_com_z 0.04623210055704251 utwalk_pid_arm_x 0.12364167434370515 utwalk_pid_arm_y -0.17696608827286658 utwalk_toe_const_offset 0.018836427341286186 utwalk_toe_amplitude -0.3033274567908883 utwalk_toe_phase_offset -0.028719513936251818 utwalk_ankle_const_offset -0.023659361728239663 utwalk_ankle_amplitude 0.08590805524680685 utwalk_ankle_phase_offset -0.11237480724789313 ##<--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 1.4416743787331532 pos_utwalk_max_step_size_x 129.67178389884145 pos_utwalk_max_step_size_y 85.43441476881097 pos_utwalk_shift_amount -19.072626978466474 pos_utwalk_walk_height 163.95395297542038 pos_utwalk_step_height 69.79970029038759 pos_utwalk_fraction_still 0.40058559009258865 pos_utwalk_fraction_on_ground -0.07608397347587026 pos_utwalk_phase_length 0.053301855324310365 pos_utwalk_default_com_pos_x -40.86281474359965 pos_utwalk_pid_step_size_x 0.006198869625225386 pos_utwalk_pid_step_size_y 0.040101946437072676 pos_utwalk_pid_step_size_rot 0.08796723262607366 pos_utwalk_max_normal_com_error 49.639790156128214 pos_utwalk_max_acceptable_com_error 111.3508671336916 pos_utwalk_fwd_offset 4.371051281858148 pos_utwalk_fwd_offset_factor 0.9594908821212534 pos_utwalk_fraction_moving 0.7253595129902992 pos_utwalk_fraction_in_air 1.200986438627392 pos_utwalk_swing_ankle_offset -0.006622006376079897 pos_utwalk_pid_tilt 0.1479888663812478 pos_utwalk_pid_roll 0.07538683013099545 pos_utwalk_pid_com_x 1.2925753195941794 pos_utwalk_pid_com_y 0.8501332782115112 pos_utwalk_pid_com_z 0.04623210055704251 pos_utwalk_pid_arm_x 0.12364167434370515 pos_utwalk_pid_arm_y -0.17696608827286658 pos_utwalk_toe_const_offset 0.018836427341286186 pos_utwalk_toe_amplitude -0.3033274567908883 pos_utwalk_toe_phase_offset -0.028719513936251818 pos_utwalk_ankle_const_offset -0.023659361728239663 pos_utwalk_ankle_amplitude 0.08590805524680685 pos_utwalk_ankle_phase_offset -0.11237480724789313 ##<--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 1.3851241729016985 app_utwalk_max_step_size_x 68.19024604356497 app_utwalk_max_step_size_y 94.55056620399375 app_utwalk_shift_amount -44.8464852416027 app_utwalk_walk_height 178.22003937598092 app_utwalk_step_height 67.3777982551469 app_utwalk_fraction_still 0.714117565677756 app_utwalk_fraction_on_ground -0.12027617933178626 app_utwalk_phase_length 0.03402307652014996 app_utwalk_default_com_pos_x -59.901713024461436 app_utwalk_pid_step_size_x 0.07741715917950512 app_utwalk_pid_step_size_y 0.06352226916148837 app_utwalk_pid_step_size_rot 0.09619610208529214 app_utwalk_max_normal_com_error 70.31992992836732 app_utwalk_max_acceptable_com_error 93.06011810969464 app_utwalk_fwd_offset 2.7592010475737436 app_utwalk_fwd_offset_factor 1.4050901787866963 app_utwalk_fraction_moving 0.5513548149513241 app_utwalk_fraction_in_air 1.5476864942823265 app_utwalk_swing_ankle_offset -0.06438739941776088 app_utwalk_pid_tilt 0.20278853624453314 app_utwalk_pid_roll -0.10136767559136398 app_utwalk_pid_com_x 1.0475408001858755 app_utwalk_pid_com_y 1.0407325878750457 app_utwalk_pid_com_z -0.007113500240289245 app_utwalk_pid_arm_x 0.06943499744229321 app_utwalk_pid_arm_y -0.17457303939100155 app_utwalk_toe_const_offset -0.04661057137031381 app_utwalk_toe_amplitude -0.40329604148288406 app_utwalk_toe_phase_offset -0.14494086502893036 app_utwalk_ankle_const_offset -0.030023798435842443 app_utwalk_ankle_amplitude 0.018540560797810964 app_utwalk_ankle_phase_offset 0.0431289060616215 // Parameters for approaching the ball kick_gen_approach_turnDist 0.44294122666871544 kick_gen_approach_buff 0.2973084057596502 kick_gen_approach_estVelCorrection 0.003118274370542684 kick_gen_approach_navBallDist 0.5 kick_gen_approach_navBallCollision 0.333 //kick_gen_approach_navBallAngle 56.11331429573308 kick_gen_approach_navBallAngle 20.0 kick_gen_approach_maxDecelX 0.9082989933597487 kick_gen_approach_maxDecelY 1.9052608061330103 // Parameters for dribbling drib_coll_thresh 0.33582030312352373 drib_target 0.17785682250297227