### DIAMOND ROBOT PROBLEM SPECIFICATION ###
# Description
# from examples.diamond import diamond
# problem = diamond.collect_POD_data
# problem = diamond.collect_TPWL_data
# problem = diamond.run_scp

# JOHN: Run decaying trajectories and visualize
# various mode shapes
# problem = diamond.apply_constant_input

# from examples.diamond import diamond_rompc
# problem = diamond_rompc.run_rompc

# from examples.diamond import diamond_koopman
# problem = diamond_koopman.run_koopman

# from examples.hardware import calibration
# problem = calibration.output_node_calibration
# problem = calibration.rest_calibration
# problem = calibration.model_calibration
# problem = calibration.actuator_calibration

# from examples.hardware import diamond
# problem = diamond.run_scp
# problem = diamond.collect_POD_data
# problem = diamond.collect_TPWL_data
#problem = diamond.run_ilqr
#problem = diamond.TPWL_rollout
# problem = diamond.run_scp_OL

# from examples.hardware import diamond_rompc
# problem = diamond_rompc.run_rompc

from examples.hardware import diamond_koopman
problem = diamond_koopman.run_koopman
# problem = diamond_koopman.run_MPC_OL

# from examples.hardware import diamond_SSM
# problem = diamond_SSM.run_scp
# problem = diamond_SSM.run_scp_OL
# problem = diamond_SSM.module_test
# problem = diamond_SSM.module_test_continuous


### TRUNK ROBOT PROBLEM SPECIFICATION ###
# from examples.trunk import trunk
# problem = trunk.apply_constant_input
# problem = trunk.collect_POD_data
#problem = trunk.collect_TPWL_data
# problem = trunk.run_scp
#problem = trunk.run_ilqr

#from examples.trunk import trunk_koopman
#problem = trunk_koopman.run_koopman