### Default parameters loaded for all agents ### ########################## ### UT WALK PARAMETERS ### ########################## ##<--Walk parameters for going to a target-->## // Maximum size of steps in radians and millimeters utwalk_max_step_size_angle 1.22 utwalk_max_step_size_x 50 utwalk_max_step_size_y 40 // How much center of mass is shifted from side to side during walk in millimeters utwalk_shift_amount 20 // Height of the torso from ground in millimeters utwalk_walk_height 175 // Maximum height of foot from ground in millimeters during step utwalk_step_height 20 // Fraction of a phase the swing foot remains still before moving in the X-Y plane utwalk_fraction_still 0.2 // Fraction of a phase that the swing foot spends on the ground before lifting utwalk_fraction_on_ground 0.2 // Fraction of a phase that the swing foot spends moving in the X-Y plane utwalk_fraction_moving 0.6 // Fraction of a phase that the swing foot spends in the air utwalk_fraction_in_air 0.6 // Duration of single step in seconds utwalk_phase_length 0.38 // Expected difference between commanded COM and sensed COM utwalk_default_com_pos_x 0.0 // Factors of how fast the step sizes change per time cycle (proportional controller) utwalk_pid_step_size_x 0.03 utwalk_pid_step_size_y 0.03 utwalk_pid_step_size_rot 0.03 // Maximum COM error in millimeters before the steps are slowed utwalk_max_normal_com_error 7.5 // Maximum COM error in millimeters before all velocity reach 0 utwalk_max_acceptable_com_error 12.5 // Constant offset between the torso and feet in millimeters utwalk_fwd_offset 2.5 // Factor of the step size applied to the forwards position of the torso utwalk_fwd_offset_factor 0.5 // Angle of foot when it hits the ground in radians utwalk_swing_ankle_offset -0.087266463 // Proportional controller values for the torso angles coming from IMU measurements utwalk_pid_tilt 0.15 utwalk_pid_roll 0.2 // Proportional controller values for controlling the COM utwalk_pid_com_x 1.0 utwalk_pid_com_y 1.0 utwalk_pid_com_z 0.0 // Proportional controller values for moving arms to control COM utwalk_pid_arm_x 0.0 utwalk_pid_arm_y 0.0 #--Default parameters for walk balance control--# // Joint angle correction factors for body tilt and roll utwalk_balance_hip_pitch 0 utwalk_balance_knee_pitch 0 utwalk_balance_hip_roll 0 utwalk_balance_ankle_roll 0 #--Default parameters for toe models--# // Parameters for sinusoidal movement of toe and ankle pitch utwalk_toe_const_offset 0 utwalk_toe_amplitude 0 utwalk_toe_phase_offset 0 utwalk_ankle_const_offset 0 utwalk_ankle_amplitude 0 utwalk_ankle_phase_offset 0 ##<--Walk parameters for positioning/dribbling-->## pos_utwalk_max_step_size_angle 1.22 pos_utwalk_max_step_size_x 50 pos_utwalk_max_step_size_y 40 pos_utwalk_shift_amount 20 pos_utwalk_walk_height 175 pos_utwalk_step_height 20 pos_utwalk_fraction_still 0.2 pos_utwalk_fraction_on_ground 0.2 pos_utwalk_fraction_moving 0.6 pos_utwalk_fraction_in_air 0.6 pos_utwalk_phase_length 0.38 pos_utwalk_default_com_pos_x 0.0 pos_utwalk_pid_step_size_x 0.03 pos_utwalk_pid_step_size_y 0.03 pos_utwalk_pid_step_size_rot 0.03 pos_utwalk_max_normal_com_error 7.5 pos_utwalk_max_acceptable_com_error 12.5 pos_utwalk_fwd_offset 2.5 pos_utwalk_fwd_offset_factor 0.5 pos_utwalk_swing_ankle_offset -0.087266463 pos_utwalk_pid_tilt 0.15 pos_utwalk_pid_roll 0.2 pos_utwalk_pid_com_x 1.0 pos_utwalk_pid_com_y 1.0 pos_utwalk_pid_com_z 0.0 pos_utwalk_pid_arm_x 0.0 pos_utwalk_pid_arm_y 0.0 pos_utwalk_balance_hip_pitch 0 pos_utwalk_balance_knee_pitch 0 pos_utwalk_balance_hip_roll 0 pos_utwalk_balance_ankle_roll 0 pos_utwalk_toe_const_offset 0 pos_utwalk_toe_amplitude 0 pos_utwalk_toe_phase_offset 0 pos_utwalk_ankle_const_offset 0 pos_utwalk_ankle_amplitude 0 pos_utwalk_ankle_phase_offset 0 ##<--Walk parameters for approaching the ball to kick-->## app_utwalk_max_step_size_angle 1.22 app_utwalk_max_step_size_x 50 app_utwalk_max_step_size_y 40 app_utwalk_shift_amount 20 app_utwalk_walk_height 175 app_utwalk_step_height 20 app_utwalk_fraction_still 0.2 app_utwalk_fraction_on_ground 0.2 app_utwalk_fraction_moving 0.6 app_utwalk_fraction_in_air 0.6 app_utwalk_phase_length 0.38 app_utwalk_default_com_pos_x 0.0 app_utwalk_pid_step_size_x 0.03 app_utwalk_pid_step_size_y 0.03 app_utwalk_pid_step_size_rot 0.03 app_utwalk_max_normal_com_error 7.5 app_utwalk_max_acceptable_com_error 12.5 app_utwalk_fwd_offset 2.5 app_utwalk_fwd_offset_factor 0.5 app_utwalk_swing_ankle_offset -0.087266463 app_utwalk_pid_tilt 0.15 app_utwalk_pid_roll 0.2 app_utwalk_pid_com_x 1.0 app_utwalk_pid_com_y 1.0 app_utwalk_pid_com_z 0.0 app_utwalk_pid_arm_x 0.0 app_utwalk_pid_arm_y 0.0 app_utwalk_balance_hip_pitch 0 app_utwalk_balance_knee_pitch 0 app_utwalk_balance_hip_roll 0 app_utwalk_balance_ankle_roll 0 app_utwalk_toe_const_offset 0 app_utwalk_toe_amplitude 0 app_utwalk_toe_phase_offset 0 app_utwalk_ankle_const_offset 0 app_utwalk_ankle_amplitude 0 app_utwalk_ankle_phase_offset 0 ######################## ### GETUP PARAMETERS ### ######################## # default getup off front params getup_parms_stateDownInitialWait 0.5 getup_parms_stateDown3A1 30.0 getup_parms_stateDown3L3 110.0 getup_parms_stateDown3MinTime 0.04 getup_parms_stateDown5L1 -45.0 getup_parms_stateDown5MinTime 0.9 getup_parms_stateDown7L1 -25.0 getup_parms_stateDown7L3 60.0 getup_parms_stateDown7MinTime 0.3 getup_parms_stateDown10MinTime 0.8 # default getup off back params getup_parms_stateUpInitialWait 0.5 getup_parms_stateUp3A1 -120.0 getup_parms_stateUp3A2 35.0 getup_parms_stateUp3A4 60.0 getup_parms_stateUp3L3 15.0 getup_parms_stateUp3MinTime 0.2 getup_parms_stateUp5L3 110.0 getup_parms_stateUp5MinTime 0.04 getup_parms_stateUp7L1 -35.0 getup_parms_stateUp7MinTime 0.2 getup_parms_stateUp9A1 30.0 getup_parms_stateUp9L1 -80.0 getup_parms_stateUp9L4 -60.0 getup_parms_stateUp9L5 -70.0 getup_parms_stateUp9L6 -40.0 getup_parms_stateUp9MinTime 0.2 getup_parms_stateUp11A1 30.0 getup_parms_stateUp11L1 -60.0 getup_parms_stateUp11L5 -80.0 getup_parms_stateUp11MinTime 0.4 getup_parms_stateUp13A1 -90.0 getup_parms_stateUp13L1 -30.0 getup_parms_stateUp13L3 30.0 getup_parms_stateUp13L4 -10.0 getup_parms_stateUp13L5 -10.0 getup_parms_stateUp13MinTime 0.04 getup_parms_stateUp15MinTime 0.6 ####################### ### KICK PARAMETERS ### ####################### kick_p1 -19.557993714343954 kick_p2 -116.33168663169225 kick_p3 -46.494524238808935 kick_p4 114.34191464255687 kick_p5 8.009471678103255 kick_p6 76.4847755838874 kick_p7 -31.637611686590287 kick_p8 24.56402804393056 kick_p9 22.447324354397427 kick_p11 12.412258757088757 kick_p12 2.9108536812695958 kick_p13 -4.139927460294173 kick_p14 2.5793464431419877 kick_xoffset -0.18758631052473101 kick_yoffset -0.08133614974057074 kick_scale1 5.295086273579072 kick_scale2 1.9096575829831766 kick_scale3 0.7896144070184505 kick_max_displacement_right 0.01 kick_max_displacement_left 0.01 kick_max_displacement_top 0.01 kick_max_displacement_bottom 0.01 kick_cw_angle_thresh 2 kick_ccw_angle_thresh 2 kick_angle 0 ########################## ### IK KICK PARAMETERS ### ########################## kick_ik_0_xoffset -0.18184323471788622 kick_ik_0_yoffset -0.009903267773347326 kick_ik_0_x0 0.09054589734459893 kick_ik_0_y0 0.03141467580048935 kick_ik_0_z0 0.06139343601092644 kick_ik_0_x1 -0.08827461842885953 kick_ik_0_y1 0.19530753889641797 kick_ik_0_z1 0.2866876820147797 kick_ik_0_x2 -0.053989325080692006 kick_ik_0_y2 0.015514903048230827 kick_ik_0_z2 -0.054711979716544665 kick_ik_0_x3 0.3649328803631949 kick_ik_0_y3 -0.047441751070778734 kick_ik_0_z3 0.16393069427855028 kick_ik_0_a0 -1.2043511758691876 kick_ik_0_b0 6.589026874063347 kick_ik_0_c0 -0.23934003781798985 kick_ik_0_a1 -3.5787587164978167 kick_ik_0_b1 13.973648938043244 kick_ik_0_c1 -1.059159535145669 kick_ik_0_a2 1.6765911268943412 kick_ik_0_b2 0.007134332067586722 kick_ik_0_c2 -8.473577518930092 kick_ik_0_a3 -0.23287904696371367 kick_ik_0_b3 70.22664178888873 kick_ik_0_c3 -34.86604213604613 kick_ik_0_wait 0.06893406720587572 kick_ik_0_scale 3.3197757593977104 kick_ik_0_off3_0 9.485949771294448 kick_ik_0_off4_0 21.91200804613055 kick_ik_0_off5_0 -7.277377651133934 kick_ik_0_off3_1 -17.535983679256688 kick_ik_0_off4_1 17.53973769921608 kick_ik_0_off5_1 -19.23111729755889 kick_ik_0_off3_2 -58.22523494632752 kick_ik_0_off4_2 -98.25778811185104 kick_ik_0_off5_2 59.32577411787592 kick_ik_0_max_displacement_right 0.028576745952861027 kick_ik_0_max_displacement_left 0.027628633116046894 kick_ik_0_max_displacement_top 0.009872033751900156 kick_ik_0_max_displacement_bottom -0.04765725031694715 kick_ik_0_cw_angle_thresh 1.2983157111848864 kick_ik_0_ccw_angle_thresh 1.330029229978805 kick_ik_0_angle 0.0 // Parameters for approaching the ball kick_gen_approach_turnDist 0.25 kick_gen_approach_buff 0.05 kick_gen_approach_estVelCorrection 0.05 kick_gen_approach_navBallDist 0.5 kick_gen_approach_navBallCollision 0.25 kick_gen_approach_navBallAngle 40 kick_gen_approach_maxDecelX 0.5 kick_gen_approach_maxDecelY 0.5 // Parameters for dribbling drib_coll_thresh 0.34 drib_target 0.18