TIMEOPT_CONFIG_FILE = "cfg_softConstraints_anymal_kinOrientation.yaml"
from .common_anymal import *
SCRIPT_PATH = "sandbox.ANYmal"
ENV_NAME = "ori/modular_palet_flat"
DEMO_NAME = "anymal_palet"
DURATION_INIT = 2.  # Time to init the motion
DURATION_FINAL = 2.  # Time to stop the robot
DURATION_FINAL_SS = 1.
DURATION_SS = 2.
DURATION_DS = 2.
DURATION_TS = 0.4
DURATION_QS = 0.05
DURATION_CONNECT_GOAL = 0.
#COM_SHIFT_Z = -0.02
#TIME_SHIFT_COM = 1.
CHECK_DT = IK_dt * 10.
#EFF_T_PREDEF = 0.1 # duration during which the motion of the end effector is forced to be orthogonal to the contact surface, at the beginning and the end of the phase
#kp_Eff = 200000.                   # proportional gain ofthe effectors motion task
#kp_contact = 500.0               # proportional gain of contact constraint
#w_posture = 0.1               # weight of joint posture task
#kp_posture = 200.              # proportional gain of joint posture task
#w_rootOrientation = 0.2      # weight of the root's orientation task

## Override default settings :
#w_rootOrientation = 1.       # weight of the root's orientation task
#kp_rootOrientation = 5000.     # proportional gain of the root's orientation task

EFF_T_PREDEF = 0.05  # duration during which the motion of the end effector is forced to be orthogonal to the contact surface, at the beginning and the end of the phase
FEET_MAX_VEL = 10.

#p_max = 0.18
#p_max = 0.30
