TIMEOPT_CONFIG_FILE = "cfg_softConstraints_talos.yaml"
from .common_talos import *
SCRIPT_PATH = "demos"
ENV_NAME = "multicontact/ground"
centroidal_method = "quasistatic"
DEMO_NAME = "talos_flatGround"

DURATION_INIT = 3.  # Time to init the motion
DURATION_FINAL = 3.  # Time to stop the robot
DURATION_FINAL_SS = 1.
DURATION_SS = 2.
DURATION_DS = 4.
DURATION_TS = 0.4
DURATION_CONNECT_GOAL = 1.

EFF_T_PREDEF = 0.3
EFF_T_DELAY = 0.05
FEET_MAX_VEL = 0.5
FEET_MAX_ANG_VEL = 1.5
p_max = 0.1

COM_SHIFT_Z = -0.03

GUIDE_STEP_SIZE = 0.6
