parameter_study_config.yaml

trajectory_path: /home/yangwill/workspace/dairlib/examples/Cassie/saved_trajectories/
gains_path: examples/franka/parameters/
model_path: examples/franka/urdf/
results_folder: /media/yangwill/backups/home/yangwill/Documents/research/projects/franka/logs/2024/03_26_24/parameter_study/
#results_folder: /media/yangwill/backups/home/yangwill/Documents/research/projects/franka/logs/2024/01_31_24/parameter_study/
processed_results_folder: /media/yangwill/backups/home/yangwill/Documents/research/projects/franka/logs/2024/03_26_24/parameter_study/data/
sim_cmd: bazel-bin/examples/franka/franka_sim
osc_cmd: bazel-bin/examples/franka/franka_osc_controller
c3_cmd: bazel-bin/examples/franka/franka_c3_controller
fix_inertia_cmd: 'python3 -m pydrake.multibody.fix_inertia --in_place examples/franka/urdf/tray_parameter_sweep.sdf'

nominal_c3_gain_filename: franka_c3_options_rotated_supports.yaml
#nominal_model_filename: tray.sdf
nominal_model_filename: plate_end_effector.urdf

modified_c3_gain_filename: franka_c3_options_parameter_sweep.yaml
#modified_model_filename: tray_parameter_sweep.sdf
modified_model_filename: plate_end_effector_parameter_sweep.urdf

parameter: ['mu_c3', 'mass_real', 'mu_real']