param_init.m

% some A1 parameter
param.total_mass = 16;
param.inertia = [0.1158533 0 0; 0 0.1277999 0; 0 0 0.1336542];
param.g = 9.805;

% used to visualize the robot body
param.vis_bl = 0.6;
param.vis_bw = 0.3;
param.vis_bh = 0.08;

param.vis_lw = 0.03;

% number of legs, leg kinematics and fk jacobian generation 
param.leg_l1 = 0.22;
param.leg_l2 = 0.20;

param.num_leg = 4;
param.num_dof_per_leg = 3;
param.num_dof = 12;


% camera parameters
% transformation between robot frame and camera frame
param.p_rc = [param.vis_bl/2;0;0];
param.R_rc = [ 0  0 1;
              -1  0 0;
               0 -1 0];

param.focus_len = 1;
param.horiz_film = 0.4;
param.verti_film = 0.3;

% noise of sensor measurement
param.noise_acc_bias = 1e-4;
param.noise_gyro_bias = 1e-4;
param.noise_rho = 1e-4;

param.noise_acc = 1e-4;
param.noise_gyro = 1e-4;
param.noise_ja = 1e-4;
param.noise_jav = 1e-4;
param.noise_feature_px = 1e-4;

% hardware data
param.data_duration = 0;
param.lc_init = 0.21;

param.test_imm = 0;
param.test_receding = 0;

param.has_mocap = 1;
param.has_contact_flag = 1;