fixing merge issues

soccer_control/soccer_pycontrol/config/bez1/bez1_sim.yaml

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+# Path calibration Parameters
+robot_model: bez1
+
+# KINEMATIC DATA
+#: Height of the robot's torso (center between two arms) while walking
+walking_torso_height: 0.315
+arm_0_center: -0.45
+arm_1_center: 2.512
+weird_x_offset: 0
+
+#: How much the torso is forward in the x axis
+torso_offset_x_ready: 0 # positive is forward
+
+#: How much the torso is rotated in the x axis
+torso_offset_pitch_ready: 0.0
+
+#: Dimensions of the foot collision box
+foot_box: [0.09, 0.07, 0.01474]
+
+#: Transformations from the right foots joint position to the center of the collision box of the foot
+right_foot_joint_center_to_collision_box_center: [0.00385, 0.00401, -0.00737]
+cleats_offset: -0.01634
+
+#: How much the torso is rotated in the x axis
+torso_offset_pitch: 0.0
+
+#: How much the torso is forward in the x axis
+torso_offset_x: 0.0 # positive is forward
+
+# HEAD
+head_yaw_freq: 0.02
+head_yaw_freq_relocalizing: 0.005
+head_pitch_freq: 0.02
+head_pitch_freq_relocalizing: 0.005
+head_rotation_yaw_center: 0.175
+head_rotation_yaw_range: 0.15
+
+# STABILIZE
+standing_pitch_kp: 0.1
+standing_pitch_kd: 0.0
+standing_pitch_ki: 0.00
+standing_pitch_setpoint: -0.0
+standing_pitch_offset: 0.0
+
+standing_roll_kp: 0.1
+standing_roll_kd: 0.0
+standing_roll_ki: 0.00
+standing_roll_setpoint: 0.0
+standing_roll_offset: 0.0
+
+walking_pitch_kp: 1 #2.3
+walking_pitch_kd: 0 #1
+walking_pitch_ki: 0.000
+walking_pitch_setpoint: -0.01
+walking_pitch_offset: 0.0
+
+walking_roll_kp: 0.1 #1.5
+walking_roll_kd: 0 #0.5
+walking_roll_ki: 0.0
+walking_roll_setpoint: 0.0
+walking_roll_offset: 0.0
+
+# WALK ENGINE
+control_frequency: 0.01
+
+# Time before Walk
+prepare_walk_time: 2
+
+# PATH
+step_precision: 0.02
+
+# PATH FOOT
+# : A half step is taken on the first and the last step to get the robot moving, this parameter indicates the
+# time ratio between the half step and the full step
+half_to_full_step_time_ratio: 0.7
+
+# : Time ratio of a single step in range [0, 1], the ratio of time keeping the feet on the ground before
+# lifting it
+pre_footstep_ratio: 0.15
+
+# : Time ratio of a single step in range  [0, 1], the ratio of time after making the step with the foot on
+# the ground
+post_footstep_ratio: 0.25
+
+#: The seperation of the feet while walking
+# How much space between the feet along the path
+foot_separation: 0.044
+
+#: The height of the step from the ground
+step_height: 0.065
+
+#: The distance to the outwards direction when the robot takes a step
+# How much does the foot step outside from the center of the path like a side step
+step_outwardness: 0.015 # positive means away from the Path
+
+#: The amount of rotation of the footstep
+# Only when it takes a step ?
+step_rotation: 0.05 # positive means the feet turns outwards to the side
+
+# PATH TORSO
+#: How much the torso bounces up and down while following the torso trajectory (m)
+torso_zdiff_sway: 0
+
+#: How much the torso sways left and right while following the torso trajectory  (m)
+torso_sidediff_sway:
+  -0.006
+
+  #: How much the torso rotates while following the torso trajectory (yaw, pitch, roll)
+torso_thetadiff_sway: [0, 0, 0]
+
+# PATH SECTION
+#: How much distance is a torso step (equivalent to a half step)
+torso_step_length: 0.04
+torso_step_length_short_backwards: 0.025
+torso_step_length_short_forwards: 0.035
+scale_yaw: 1.0 # Increase the rotation by angle
+#: How many torso steps per second, approximately equivalent to foot steps per second
+steps_per_second_default: 3.0
+
+# PATH SECTION BEZIER
+turn_duration: 3
+backwards_torso_step_length_ratio: 0.5
+
+merge_fixed_links: true

soccer_control/soccer_pycontrol/config/bez2/bez2_sim.yaml

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+# Path calibration Parameters
+robot_model: bez2
+
+# KINEMATIC DATA
+#: Height of the robot's torso (center between two arms) while walking
+walking_torso_height: 0.375
+arm_0_center: -0.45
+arm_1_center: 2.512
+weird_x_offset: -0.06409
+#: How much the torso is forward in the x axis
+torso_offset_x_ready: 0.012 # positive is forward
+
+#: How much the torso is rotated in the x axis
+torso_offset_pitch_ready: -0.01
+
+#: Dimensions of the foot collision box
+foot_box: [0.09, 0.07, 0.01474]
+
+#: Transformations from the right foots joint position to the center of the collision box of the foot
+right_foot_joint_center_to_collision_box_center: [0.00385, 0.00401, -0.00737]
+cleats_offset: -0.01634
+
+# HEAD
+head_yaw_freq: 0.02
+head_yaw_freq_relocalizing: 0.005
+head_pitch_freq: 0.02
+head_pitch_freq_relocalizing: 0.005
+head_rotation_yaw_center: 0.175
+head_rotation_yaw_range: 0.15
+
+# STEP PLANNER
+#: How much the torso is rotated in the x axis
+torso_offset_pitch: 0.3
+
+#: How much the torso is forward in the x axis
+torso_offset_x: 0.02 # positive is forward
+
+# STABILIZE
+standing_pitch_kp: 0.
+standing_pitch_kd: 0.0
+standing_pitch_ki: 0.00
+standing_pitch_setpoint: -0.0
+standing_pitch_offset: 0.0
+
+standing_roll_kp: 0.
+standing_roll_kd: 0.0
+standing_roll_ki: 0.00
+standing_roll_setpoint: 0.0
+standing_roll_offset: 0.0
+
+walking_pitch_kp: 0 #1
+walking_pitch_kd: 0
+walking_pitch_ki: 0.000
+walking_pitch_setpoint: -0.01
+walking_pitch_offset: 0.0
+
+walking_roll_kp: 0 #1.5
+walking_roll_kd: 0.0 # 00.5
+walking_roll_ki: 0.0
+walking_roll_setpoint: 0.0
+walking_roll_offset: 0.0
+
+# WALK ENGINE
+control_frequency: 0.01
+
+# Time before Walk
+prepare_walk_time: 2
+
+# PATH
+step_precision: 0.02
+
+# PATH FOOT
+# : A half step is taken on the first and the last step to get the robot moving, this parameter indicates the
+# time ratio between the half step and the full step
+half_to_full_step_time_ratio: 0.7
+
+# : Time ratio of a single step in range [0, 1], the ratio of time keeping the feet on the ground before
+# lifting it
+pre_footstep_ratio: 0.15
+
+# : Time ratio of a single step in range  [0, 1], the ratio of time after making the step with the foot on
+# the ground
+post_footstep_ratio: 0.25
+
+#: The seperation of the feet while walking
+# How much space between the feet along the path
+foot_separation: 0.064
+
+#: The height of the step from the ground
+step_height: 0.065
+
+#: The distance to the outwards direction when the robot takes a step
+# How much does the foot step outside from the center of the path like a side step
+step_outwardness: 0.015 # positive means away from the Path
+
+#: The amount of rotation of the footstep
+# Only when it takes a step ?
+step_rotation: 0.05 # positive means the feet turns outwards to the side
+
+# PATH TORSO
+#: How much the torso bounces up and down while following the torso trajectory (m)
+torso_zdiff_sway: 0
+
+#: How much the torso sways left and right while following the torso trajectory  (m)
+torso_sidediff_sway:
+  0.01
+
+  #: How much the torso rotates while following the torso trajectory (yaw, pitch, roll)
+torso_thetadiff_sway: [0, 0, 0]
+
+# PATH SECTION
+#: How much distance is a torso step (equivalent to a half step)
+torso_step_length: 0.03
+torso_step_length_short_backwards: 0.025
+torso_step_length_short_forwards: 0.035
+scale_yaw: 1.0 # Increase the rotation by angle
+#: How many torso steps per second, approximately equivalent to foot steps per second
+steps_per_second_default: 1.5
+
+# PATH SECTION BEZIER
+turn_duration: 3
+backwards_torso_step_length_ratio: 0.5
+
+merge_fixed_links: true