text: ''' *********************** USER-PARAMETERS OF BASE ESTIMATOR *********************** '''
  K                   = (4034, 23770, 239018, 707, 502, 936);
  std_dev_zmp         = 0.02
  std_dev_fz          = 50.
  normal_force_margin = 30.
  zmp_margin          = 0.002
  w_imu               = 1.0;
  beta                = 0.00329
  K_fb_feet_poses     = 0.0;      # gain used for updating foot positions
  RIGHT_FOOT_SIZES    = (0.1,  -0.11,  0.069,  -0.069); # pos x, neg x, pos y, neg y size 
  LEFT_FOOT_SIZES     = (0.1,  -0.11,  0.069,  -0.069); # pos x, neg x, pos y, neg y size 
  w_lf_in             = 1.0
  w_rf_in             = 1.0
  #mu                  = 0.3;          # force friction coefficient
  