320 lines
8.0 KiB
Plaintext
320 lines
8.0 KiB
Plaintext
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centroidalModelType 0 // 0: FullCentroidalDynamics, 1: Single Rigid Body Dynamics
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legged_robot_interface
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{
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verbose false // show the loaded parameters
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}
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model_settings
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{
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positionErrorGain 0.0
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phaseTransitionStanceTime 0.1
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verboseCppAd true
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recompileLibrariesCppAd false
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modelFolderCppAd /tmp/ocs2_quadruped_controller/go1
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}
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swing_trajectory_config
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{
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liftOffVelocity 0.05
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touchDownVelocity -0.1
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swingHeight 0.08
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swingTimeScale 0.15
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}
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; DDP settings
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ddp
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{
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algorithm SLQ
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nThreads 3
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threadPriority 50
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maxNumIterations 1
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minRelCost 1e-1
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constraintTolerance 5e-3
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displayInfo false
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displayShortSummary false
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checkNumericalStability false
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debugPrintRollout false
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debugCaching false
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AbsTolODE 1e-5
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RelTolODE 1e-3
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maxNumStepsPerSecond 10000
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timeStep 0.015
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backwardPassIntegratorType ODE45
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constraintPenaltyInitialValue 20.0
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constraintPenaltyIncreaseRate 2.0
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preComputeRiccatiTerms true
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useFeedbackPolicy false
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strategy LINE_SEARCH
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lineSearch
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{
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minStepLength 1e-2
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maxStepLength 1.0
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hessianCorrectionStrategy DIAGONAL_SHIFT
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hessianCorrectionMultiple 1e-5
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}
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}
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; Multiple_Shooting SQP settings
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sqp
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{
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nThreads 3
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dt 0.015
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sqpIteration 1
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deltaTol 1e-4
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g_max 1e-2
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g_min 1e-6
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inequalityConstraintMu 0.1
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inequalityConstraintDelta 5.0
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projectStateInputEqualityConstraints true
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printSolverStatistics true
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printSolverStatus false
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printLinesearch false
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useFeedbackPolicy false
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integratorType RK2
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threadPriority 50
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}
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; Multiple_Shooting IPM settings
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ipm
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{
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nThreads 3
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dt 0.015
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ipmIteration 1
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deltaTol 1e-4
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g_max 10.0
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g_min 1e-6
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computeLagrangeMultipliers true
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printSolverStatistics true
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printSolverStatus false
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printLinesearch false
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useFeedbackPolicy false
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integratorType RK2
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threadPriority 50
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initialBarrierParameter 1e-4
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targetBarrierParameter 1e-4
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barrierLinearDecreaseFactor 0.2
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barrierSuperlinearDecreasePower 1.5
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barrierReductionCostTol 1e-3
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barrierReductionConstraintTol 1e-3
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fractionToBoundaryMargin 0.995
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usePrimalStepSizeForDual false
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initialSlackLowerBound 1e-4
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initialDualLowerBound 1e-4
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initialSlackMarginRate 1e-2
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initialDualMarginRate 1e-2
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}
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; Rollout settings
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rollout
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{
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AbsTolODE 1e-5
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RelTolODE 1e-3
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timeStep 0.015
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integratorType ODE45
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maxNumStepsPerSecond 10000
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checkNumericalStability false
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}
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mpc
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{
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timeHorizon 1.0 ; [s]
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solutionTimeWindow -1 ; maximum [s]
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coldStart false
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debugPrint false
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mpcDesiredFrequency 100 ; [Hz]
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mrtDesiredFrequency 1000 ; [Hz] Useless
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}
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initialState
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{
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;; Normalized Centroidal Momentum: [linear, angular] ;;
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(0,0) 0.0 ; vcom_x
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(1,0) 0.0 ; vcom_y
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(2,0) 0.0 ; vcom_z
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(3,0) 0.0 ; L_x / robotMass
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(4,0) 0.0 ; L_y / robotMass
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(5,0) 0.0 ; L_z / robotMass
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;; Base Pose: [position, orientation] ;;
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(6,0) 0.0 ; p_base_x
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(7,0) 0.0 ; p_base_y
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(8,0) 0.3 ; p_base_z
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(9,0) 0.0 ; theta_base_z
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(10,0) 0.0 ; theta_base_y
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(11,0) 0.0 ; theta_base_x
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;; Leg Joint Positions: [FL, RL, FR, RR] ;;
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(12,0) -0.20 ; FL_hip_joint
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(13,0) 0.72 ; FL_thigh_joint
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(14,0) -1.44 ; FL_calf_joint
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(15,0) -0.20 ; RL_hip_joint
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(16,0) 0.72 ; RL_thigh_joint
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(17,0) -1.44 ; RL_calf_joint
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(18,0) 0.20 ; FR_hip_joint
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(19,0) 0.72 ; FR_thigh_joint
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(20,0) -1.44 ; FR_calf_joint
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(21,0) 0.20 ; RR_hip_joint
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(22,0) 0.72 ; RR_thigh_joint
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(23,0) -1.44 ; RR_calf_joint
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}
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; standard state weight matrix
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Q
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{
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scaling 1e+0
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;; Normalized Centroidal Momentum: [linear, angular] ;;
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(0,0) 15.0 ; vcom_x
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(1,1) 15.0 ; vcom_y
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(2,2) 100.0 ; vcom_z
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(3,3) 10.0 ; L_x / robotMass
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(4,4) 30.0 ; L_y / robotMass
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(5,5) 30.0 ; L_z / robotMass
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;; Base Pose: [position, orientation] ;;
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(6,6) 1000.0 ; p_base_x
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(7,7) 1000.0 ; p_base_y
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(8,8) 1500.0 ; p_base_z
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(9,9) 100.0 ; theta_base_z
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(10,10) 300.0 ; theta_base_y
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(11,11) 300.0 ; theta_base_x
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;; Leg Joint Positions: [FL, RL, FR, RR] ;;
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(12,12) 5.0 ; FL_hip_joint
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(13,13) 5.0 ; FL_thigh_joint
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(14,14) 2.5 ; FL_calf_joint
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(15,15) 5.0 ; RL_hip_joint
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(16,16) 5.0 ; RL_thigh_joint
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(17,17) 2.5 ; RL_calf_joint
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(18,18) 5.0 ; FR_hip_joint
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(19,19) 5.0 ; FR_thigh_joint
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(20,20) 2.5 ; FR_calf_joint
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(21,21) 5.0 ; RR_hip_joint
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(22,22) 5.0 ; RR_thigh_joint
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(23,23) 2.5 ; RR_calf_joint
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}
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; control weight matrix
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R
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{
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scaling 1e-3
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;; Feet Contact Forces: [FL, FR, RL, RR] ;;
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(0,0) 1.0 ; front_left_force
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(1,1) 1.0 ; front_left_force
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(2,2) 1.0 ; front_left_force
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(3,3) 1.0 ; front_right_force
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(4,4) 1.0 ; front_right_force
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(5,5) 1.0 ; front_right_force
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(6,6) 1.0 ; rear_left_force
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(7,7) 1.0 ; rear_left_force
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(8,8) 1.0 ; rear_left_force
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(9,9) 1.0 ; rear_right_force
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(10,10) 1.0 ; rear_right_force
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(11,11) 1.0 ; rear_right_force
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;; foot velocity relative to base: [FL, RL, FR, RR] (uses the Jacobian at nominal configuration) ;;
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(12,12) 5000.0 ; x
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(13,13) 5000.0 ; y
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(14,14) 5000.0 ; z
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(15,15) 5000.0 ; x
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(16,16) 5000.0 ; y
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(17,17) 5000.0 ; z
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(18,18) 5000.0 ; x
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(19,19) 5000.0 ; y
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(20,20) 5000.0 ; z
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(21,21) 5000.0 ; x
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(22,22) 5000.0 ; y
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(23,23) 5000.0 ; z
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}
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frictionConeSoftConstraint
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{
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frictionCoefficient 0.3
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; relaxed log barrier parameters
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mu 0.1
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delta 5.0
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}
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selfCollision
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{
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; Self Collision raw object pairs
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collisionObjectPairs
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{
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}
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; Self Collision pairs
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collisionLinkPairs
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{
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[0] "FL_calf, FR_calf"
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[1] "RL_calf, RR_calf"
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[2] "FL_calf, RL_calf"
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[3] "FR_calf, RR_calf"
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[4] "FL_foot, FR_foot"
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[5] "RL_foot, RR_foot"
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[6] "FL_foot, RL_foot"
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[7] "FR_foot, RR_foot"
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}
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minimumDistance 0.05
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; relaxed log barrier parameters
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mu 1e-2
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delta 1e-3
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}
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; Whole body control
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torqueLimitsTask
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{
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(0,0) 33.5 ; HAA
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(1,0) 33.5 ; HFE
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(2,0) 33.5 ; KFE
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}
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frictionConeTask
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{
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frictionCoefficient 0.3
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}
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swingLegTask
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{
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kp 350
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kd 37
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}
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weight
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{
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swingLeg 100
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baseAccel 1
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contactForce 0.01
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}
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; State Estimation
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kalmanFilter
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{
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footRadius 0.02
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imuProcessNoisePosition 0.02
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imuProcessNoiseVelocity 0.02
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footProcessNoisePosition 0.002
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footSensorNoisePosition 0.005
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footSensorNoiseVelocity 0.1
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footHeightSensorNoise 0.01
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}
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