From 45cd6b6c4cfaf28ff63858ccd6176c90fa097dfb Mon Sep 17 00:00:00 2001
From: paleziart <paleziart@laas.fr>
Date: Mon, 20 Sep 2021 18:32:50 +0200
Subject: [PATCH] Tweak parameters of WBC
---
src/config_solo12.yaml | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/config_solo12.yaml b/src/config_solo12.yaml
index fbdfdd4d..39367cd4 100644
--- a/src/config_solo12.yaml
+++ b/src/config_solo12.yaml
@@ -45,8 +45,8 @@ robot:
osqp_Nz_lim: 35.0 # Maximum vertical force that can be applied at contact points
# Parameters of InvKin
- Kp_flyingfeet: 100.0 # Proportional gain for feet position tasks
- Kd_flyingfeet: 10.0 # Derivative gain for feet position tasks
+ Kp_flyingfeet: 1000.0 # Proportional gain for feet position tasks
+ Kd_flyingfeet: 100.0 # Derivative gain for feet position tasks
Kp_base_position: [1000.0, 1000.0, 1000.0] # Proportional gains for the base position task
Kd_base_position: [100.0, 100.0, 100.0] # Derivative gains for the base position task
Kp_base_orientation: [1000.0, 1000.0, 1000.0] # Proportional gains for the base orientation task
@@ -55,6 +55,6 @@ robot:
# Parameters of WBC QP problem
Q1: 0.1 # Weights for the "delta articular accelerations" optimization variables
- Q2: 1.0 # Weights for the "delta contact forces" optimization variables
+ Q2: 5.0 # Weights for the "delta contact forces" optimization variables
Fz_max: 35.0 # Maximum vertical contact force [N]
Fz_min: 0.0 # Minimal vertical contact force [N]
\ No newline at end of file
--
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