{
  "initial_plan": "warmup",
  "mpc":
  {
    "weights":
    {
      "jerk": 1.0,
      "vel": [10.0, 100.0],
      "zmp": 1000.0
    }
  },
  "stabilizer":
  {
    "fdqp_weights":
    {
      "net_wrench": 10000.0,
      "ankle_torque": 100.0,
      "pressure": 1.0
    },
    "dcm_feedback":
    {
      "gain": 1.4,
      "integral_gain": 0.0,
      "integrator_time_constant": 20.0
    },
    "tasks":
    {
      "com":
      {
        "stiffness": [1000.0, 1000.0, 100.0],
        "weight": 1000.0
      },
      "contact":
      {
        "damping": 300.0,
        "stiffness": 1.0,
        "weight": 10000.0
      },
      "swing_foot":
      {
        "stiffness": 2000.0,
        "weight": 500.0
      }
    },
    "vdc":
    {
      "frequency": 1.0,
      "damping": 0.0,
      "stiffness": 1000.0
    },
    "altcc":
    {
      "integrator_leak_rate": 0.1
    },
    "zmpcc":
    {
      "integrator_leak_rate": 0.1
    }
  },
  "tasks":
  {
    "pelvis":
    {
      "stiffness": 10.0,
      "weight": 100.0
    },
    "posture":
    {
      "stiffness": 1.0,
      "weight": 10.0
    },
    "torso":
    {
      "pitch": 0.1,
      "stiffness": 10.0,
      "weight": 100.0
    }
  },
  "robot_models":
  {
    "hrp4": // robot-specific settings for HRP-4
    {
      "admittance":
      {
        "com": [0.0, 0.0, 0.007],
        "cop": [0.01, 0.01],
        "dfz": 0.0001
      },
      "com":
      {
        "active_joints": [
          "Root",
          "R_HIP_Y", "R_HIP_R", "R_HIP_P", "R_KNEE_P", "R_ANKLE_P", "R_ANKLE_R",
          "L_HIP_Y", "L_HIP_R", "L_HIP_P", "L_KNEE_P", "L_ANKLE_P", "L_ANKLE_R"
        ],
        "height": 0.78,
        "max_height": 0.85,
        "min_height": 0.55
      },
      //"force_calib": [0.5, 3.7],
      "force_calib": [0.0, 0.0],
      "sole":
      {
        "half_length": 0.112,
        "half_width": 0.065,
        "friction": 0.7
      },
      "step_width": 0.18,
      "torso": "torso"
    },
    "hrp2_drc":
    {
      "admittance":
      {
        "com": [0.0, 0.0, 0.0],
        "cop": [0.01, 0.01],
        "dfz": 0.0002
      },
      "com":
      {
        "active_joints": [
          "Root",
          "RLEG_JOINT0", "RLEG_JOINT1", "RLEG_JOINT2", "RLEG_JOINT3", "RLEG_JOINT4", "RLEG_JOINT5",
          "LLEG_JOINT0", "LLEG_JOINT1", "LLEG_JOINT2", "LLEG_JOINT3", "LLEG_JOINT4", "LLEG_JOINT5"
        ],
        "height": 0.87,
        "max_height": 1.0,
        "min_height": 0.4
      },
      "sole":
      {
        "half_length": 0.108,
        "half_width": 0.07,
        "friction": 0.7
      },
      "step_width": 0.2,
      "torso": "CHEST_LINK1"
    }
  },
  "plans":
  {
    "ashibumi": // stepping in place
    {
      "double_support_duration": 0.2,
      "single_support_duration": 0.8,
      "swing_height": 0.04,
      "contacts":
      [
        { "pose": { "translation": [0.035, -0.09, 0.0] }, "surface": "RightFootCenter" },
        { "pose": { "translation": [0.035,  0.09, 0.0] }, "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.035, -0.09, 0.0] }, "surface": "RightFootCenter" },
        { "pose": { "translation": [0.035,  0.09, 0.0] }, "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.035, -0.09, 0.0] }, "surface": "RightFootCenter" },
        { "pose": { "translation": [0.035,  0.09, 0.0] }, "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.035, -0.09, 0.0] }, "surface": "RightFootCenter" },
        { "pose": { "translation": [0.035,  0.09, 0.0] }, "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.035, -0.09, 0.0] }, "surface": "RightFootCenter" },
        { "pose": { "translation": [0.035,  0.09, 0.0] }, "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.035, -0.09, 0.0] }, "surface": "RightFootCenter" },
        { "pose": { "translation": [0.035,  0.09, 0.0] }, "surface": "LeftFootCenter" }
      ]
    },
    "ashibumi_fast":
    {
      "double_support_duration": 0.1,
      "single_support_duration": 0.7,
      "swing_height": 0.04,
      "contacts":
      [
        { "pose": { "translation": [0.035, -0.09, 0.0] }, "surface": "RightFootCenter" },
        { "pose": { "translation": [0.035,  0.09, 0.0] }, "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.035, -0.09, 0.0] }, "surface": "RightFootCenter" },
        { "pose": { "translation": [0.035,  0.09, 0.0] }, "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.035, -0.09, 0.0] }, "surface": "RightFootCenter" },
        { "pose": { "translation": [0.035,  0.09, 0.0] }, "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.035, -0.09, 0.0] }, "surface": "RightFootCenter" },
        { "pose": { "translation": [0.035,  0.09, 0.0] }, "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.035, -0.09, 0.0] }, "surface": "RightFootCenter" },
        { "pose": { "translation": [0.035,  0.09, 0.0] }, "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.035, -0.09, 0.0] }, "surface": "RightFootCenter" },
        { "pose": { "translation": [0.035,  0.09, 0.0] }, "surface": "LeftFootCenter" }
      ]
    },
    "backward_15cm_steps":
    {
      "double_support_duration": 0.2,
      "single_support_duration": 0.8,
      "swing_height": 0.05,
      "contacts":
      [
        { "pose": { "translation": [0.0,   -0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.0,    0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "LeftFootCenter"  },
        { "pose": { "translation": [-0.15, -0.09, 0.0] }, "ref_vel": [-0.075, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [-0.3,   0.09, 0.0] }, "ref_vel": [-0.15, 0.0, 0.0], "surface": "LeftFootCenter"  },
        { "pose": { "translation": [-0.45, -0.09, 0.0] }, "ref_vel": [-0.15, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [-0.6,   0.09, 0.0] }, "ref_vel": [-0.075, 0.0, 0.0], "surface": "LeftFootCenter"  },
        { "pose": { "translation": [-0.75, -0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [-0.75,  0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "LeftFootCenter"  }
      ]
    },
    "backward_20cm_steps":
    {
      "double_support_duration": 0.1,
      "single_support_duration": 0.7,
      "swing_height": 0.05,
      "contacts":
      [
        { "pose": { "translation": [0.0,  -0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.0,   0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "LeftFootCenter"  },
        { "pose": { "translation": [-0.2, -0.09, 0.0] }, "ref_vel": [-0.1, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [-0.4,  0.09, 0.0] }, "ref_vel": [-0.2, 0.0, 0.0], "surface": "LeftFootCenter"  },
        { "pose": { "translation": [-0.6, -0.09, 0.0] }, "ref_vel": [-0.2, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [-0.8,  0.09, 0.0] }, "ref_vel": [-0.1, 0.0, 0.0], "surface": "LeftFootCenter"  },
        { "pose": { "translation": [-1.0, -0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [-1.0,  0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "LeftFootCenter"  }
      ]
    },
    "forward_15cm_steps":
    {
      "double_support_duration": 0.1,
      "single_support_duration": 0.7,
      "swing_height": 0.04,
      "contacts":
      [
        { "pose": { "translation": [0.0,  -0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.0,   0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.15, -0.09, 0.0] }, "ref_vel": [0.07, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.3,   0.09, 0.0] }, "ref_vel": [0.15, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.45, -0.09, 0.0] }, "ref_vel": [0.15, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.6,   0.09, 0.0] }, "ref_vel": [0.07, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.75, -0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.75,  0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "LeftFootCenter" }
      ]
    },
    "forward_20cm_steps":
    {
      "double_support_duration": 0.1,
      "single_support_duration": 0.7,
      "swing_height": 0.04,
      "contacts":
      [
        { "pose": { "translation": [0.0, -0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.0,  0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.2, -0.09, 0.0] }, "ref_vel": [0.1, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.4,  0.09, 0.0] }, "ref_vel": [0.2, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.6, -0.09, 0.0] }, "ref_vel": [0.2, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.8,  0.09, 0.0] }, "ref_vel": [0.1, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [1.0, -0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [1.0,  0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "LeftFootCenter" }
      ]
    },
    "forward_25cm_steps":
    {
      "double_support_duration": 0.1,
      "single_support_duration": 0.7,
      "swing_height": 0.04,
      "contacts":
      [
        { "pose": { "translation": [0.0, -0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.0,  0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.2, -0.09, 0.0] }, "ref_vel": [0.12, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.45, 0.09, 0.0] }, "ref_vel": [0.25, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.7, -0.09, 0.0] }, "ref_vel": [0.25, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.95, 0.09, 0.0] }, "ref_vel": [0.12, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [1.15,-0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [1.15, 0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "LeftFootCenter" }
      ]
    },
    "forward_30cm_steps":
    {
      "double_support_duration": 0.2,
      "single_support_duration": 0.8,
      "swing_height": 0.05,
      "contacts":
      [
        { "pose": { "translation": [0.0, -0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.0,  0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.2, -0.09, 0.0] }, "ref_vel": [0.15, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.5,  0.09, 0.0] }, "ref_vel": [0.30, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.8, -0.09, 0.0] }, "ref_vel": [0.30, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [1.1,  0.09, 0.0] }, "ref_vel": [0.15, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [1.3, -0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [1.3,  0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "LeftFootCenter" }
      ]
    },
    "forward_35cm_steps":
    {
      "double_support_duration": 0.2,
      "single_support_duration": 0.8,
      "swing_height": 0.04,
      "contacts":
      [
        { "pose": { "translation": [0.0,  -0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.0,   0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.2,  -0.09, 0.0] }, "ref_vel": [0.17, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.55,  0.09, 0.0] }, "ref_vel": [0.35, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.9,  -0.09, 0.0] }, "ref_vel": [0.35, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [1.25,  0.09, 0.0] }, "ref_vel": [0.17, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [1.45, -0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [1.45,  0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "LeftFootCenter" }
      ]
    },
    "forward_40cm_steps":
    {
      "double_support_duration": 0.2,
      "single_support_duration": 0.8,
      "swing_height": 0.07,
      "contacts":
      [
        { "pose": { "translation": [0.0, -0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.0,  0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.2, -0.09, 0.0] }, "ref_vel": [0.2, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.6,  0.09, 0.0] }, "ref_vel": [0.4, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [1.0, -0.09, 0.0] }, "ref_vel": [0.4, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [1.4,  0.09, 0.0] }, "ref_vel": [0.2, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [1.6, -0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [1.6,  0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "LeftFootCenter" }
      ]
    },
    "kajita_2010":
    {
      "double_support_duration": 0.2,
      "single_support_duration": 0.8,
      "swing_height": 0.04,
      "contacts":
      [
        { "pose": { "translation": [0.0,   -0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.0,    0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.2,   -0.09, 0.0] }, "ref_vel": [0.12, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.45,   0.09, 0.0] }, "ref_vel": [0.25, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.725, -0.09, 0.0] }, "ref_vel": [0.25, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.975,  0.09, 0.0] }, "ref_vel": [0.25, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [1.25,  -0.09, 0.0] }, "ref_vel": [0.25, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [1.5,    0.09, 0.0] }, "ref_vel": [0.25, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [1.775, -0.09, 0.0] }, "ref_vel": [0.12, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [1.975,  0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [1.975, -0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "RightFootCenter" }
      ]
    },
    "koopa_30cm_steps":
    {
      "double_support_duration": 0.2,
      "single_support_duration": 0.8,
      "swing_height": 0.04,
      "contacts":
      [
        { "pose": { "translation": [0.0, -0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.0,  0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.3, -0.09, 0.0] }, "ref_vel": [0.15, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.3,  0.09, 0.0] }, "ref_vel": [0.15, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.6, -0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.6,  0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "LeftFootCenter" }
      ]
    },
    "koopa_40cm_steps":
    {
      "double_support_duration": 0.2,
      "single_support_duration": 0.8,
      "swing_height": 0.04,
      "contacts":
      [
        { "pose": { "translation": [0.0, -0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.0,  0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.4, -0.09, 0.0] }, "ref_vel": [0.2, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.4,  0.09, 0.0] }, "ref_vel": [0.2, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.8, -0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.8,  0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "LeftFootCenter" }
      ]
    },
    "koopa_50cm_steps":
    {
      "double_support_duration": 0.2,
      "single_support_duration": 0.8,
      "swing_height": 0.04,
      "contacts":
      [
        { "pose": { "translation": [0.0, -0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.0,  0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.5, -0.09, 0.0] }, "ref_vel": [0.25, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.5,  0.09, 0.0] }, "ref_vel": [0.25, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [1.0, -0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [1.0,  0.09, 0.0] }, "ref_vel": [0.0,  0.0, 0.0], "surface": "LeftFootCenter" }
      ]
    },
    "lateral_left_10cm_steps":
    {
      "double_support_duration": 0.2,
      "single_support_duration": 0.8,
      "swing_height": 0.04,
      "contacts":
      [
        { "pose": { "translation": [0.0,  0.09, 0.0] }, "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.0, -0.09, 0.0] }, "surface": "RightFootCenter" },
        { "pose": { "translation": [0.0,  0.19, 0.0] }, "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.0,  0.01, 0.0] }, "surface": "RightFootCenter" },
        { "pose": { "translation": [0.0,  0.29, 0.0] }, "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.0,  0.11, 0.0] }, "surface": "RightFootCenter" },
        { "pose": { "translation": [0.0,  0.39, 0.0] }, "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.0,  0.21, 0.0] }, "surface": "RightFootCenter" }
      ]
    },
    "lateral_right_10cm_steps":
    {
      "double_support_duration": 0.2,
      "single_support_duration": 0.8,
      "swing_height": 0.04,
      "contacts":
      [
        { "pose": { "translation": [0.0, -0.09, 0.0] }, "surface": "RightFootCenter" },
        { "pose": { "translation": [0.0,  0.09, 0.0] }, "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.0, -0.19, 0.0] }, "surface": "RightFootCenter" },
        { "pose": { "translation": [0.0, -0.01, 0.0] }, "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.0, -0.29, 0.0] }, "surface": "RightFootCenter" },
        { "pose": { "translation": [0.0, -0.11, 0.0] }, "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.0, -0.39, 0.0] }, "surface": "RightFootCenter" },
        { "pose": { "translation": [0.0, -0.21, 0.0] }, "surface": "LeftFootCenter" }
      ]
    },
    "long_step_ending":
    {
      "double_support_duration": 0.1,
      "single_support_duration": 0.7,
      "swing_height": 0.04,
      "contacts":
      [
        { "pose": { "translation": [0.0, -0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.0,  0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.2, -0.09, 0.0] }, "ref_vel": [0.1, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.4,  0.09, 0.0] }, "ref_vel": [0.2, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [0.6, -0.09, 0.0] }, "ref_vel": [0.2, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [0.8,  0.09, 0.0] }, "ref_vel": [0.1, 0.0, 0.0], "surface": "LeftFootCenter" },
        { "pose": { "translation": [1.1, -0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "RightFootCenter" },
        { "pose": { "translation": [1.1,  0.09, 0.0] }, "ref_vel": [0.0, 0.0, 0.0], "surface": "LeftFootCenter" }
      ]
    },
    "warmup":
    {
      "double_support_duration": 0.1,
      "single_support_duration": 0.7,
      "swing_height": 0.04,
      "contacts":
      [
        { "pose": { "translation": [0.035, -0.1, 0.0] }, "surface": "RightFootCenter" },
        { "pose": { "translation": [0.035,  0.1, 0.0] }, "surface": "LeftFootCenter"  },
        { "pose": { "translation": [0.035, -0.1, 0.0] }, "surface": "RightFootCenter" },
        { "pose": { "translation": [0.035,  0.1, 0.0] }, "surface": "LeftFootCenter"  }
      ]
    }
  },

  //
  // Tasks
  //

  "constraints":
  [
    {
      "type": "contact"
    },
    {
      "type": "kinematics", // constraint type
      "damper": [           // see Equation (3.6) in J. Vaillant's thesis
          0.1,              // interaction distance (d_i)
          0.01,             // safety distance (d_s)
          0.5],             // damper offset (xi_off)
      "robotIndex": 0,      // applies to main robot
    }
  ],
  "collisions":
  [
    {
      "type": "collision",
      "r1Index": 0,
      "r2Index": 0,
      "useMinimal": true
    }
  ],
  "contacts": [],
  "robots":
  {
    "ground":
    {
      "module": "env",
      "params": ["@AROBASE@MC_ENV_DESCRIPTION@AROBASE@", "ground"]
    }
  },

  //
  // Finite state machine
  //

  "init": "Initial",
  "states": {},
  "configs": {},
  "transitions":
  [
    ["Initial", "Standing", "Standing"],
    ["Standing", "DoubleSupport", "DoubleSupport"],
    ["DoubleSupport", "SingleSupport", "SingleSupport"],
    ["DoubleSupport", "Standing", "Standing"],
    ["SingleSupport", "DoubleSupport", "DoubleSupport"]
  ],

  // When true, the FSM transitions are managed by an external tool
  "Managed": false,

  // When true and the FSM is self-managed, transitions should be triggered
  "StepByStep": false,

  // Where to look for state libraries
  "StatesLibraries": ["@MC_RTC_LIBDIR@/mc_controller/vhip_walking_controller/states"],

  // Where to look for state files
  "StatesFiles": [],

  // When true, state factory will be more verbose
  "VerboseStateFactory": true,

  // Controller has its own floating base estimator
  "UpdateRealFromSensors": false,

  // Controller is created in a sandbox, which in between a thread and a fork;
  // try to keep it to false, as it can create weird conflicts with threads
  "UseSandbox" : false
}
