project_main/cfg_subtask.toml

[get_block]
pid_kp = 1.5
pid_ki = 0
pid_kd = 0
first_block = "blue"

[put_block]
pid_kp = 1.2
pid_ki = 0
pid_kd = 0

[get_bball]
pid_kp = 1.2
pid_ki = 0
pid_kd = 0

[up_tower]
pid_kp = 1.8
pid_ki = 0
pid_kd = 0

[get_rball]
pid_kp = 1.0
pid_ki = 0
pid_kd = 0

[put_bball]
pid_kp = 1.2
pid_ki = 0
pid_kd = 0

[put_hanoi1]
pid_kp = 0.7
pid_ki = 0
pid_kd = 0

[put_hanoi2]
pid_kp = 1.0
pid_ki = 0
pid_kd = 0
pos_gap = 160
first_target = "mp"

[put_hanoi3]
pid_kp = 1.5
pid_ki = 0
pid_kd = 0

[move_area]
pid_kp = 1.2
pid_ki = 0
pid_kd = 0
llm_enable = true

[kick_ass]
pid_kp = 1.2
pid_ki = 0
pid_kd = 0
pos_gap1 = 150
pos_gap2 = 80
target_person = 1