From c7f97d4702bf7f938d501dffdefb81adf2f94d0b Mon Sep 17 00:00:00 2001
From: odri <odri@furano.laas.fr>
Date: Fri, 17 Sep 2021 18:33:47 +0200
Subject: [PATCH] Lower WBC gains for tasks
---
src/config_solo12.yaml | 10 +++++-----
1 file changed, 5 insertions(+), 5 deletions(-)
diff --git a/src/config_solo12.yaml b/src/config_solo12.yaml
index 81c98113..8174253b 100644
--- a/src/config_solo12.yaml
+++ b/src/config_solo12.yaml
@@ -11,7 +11,7 @@ robot:
N_SIMULATION: 30000 # Number of simulated wbc time steps
enable_pyb_GUI: true # Enable/disable PyBullet GUI
enable_corba_viewer: false # Enable/disable Corba Viewer
- enable_multiprocessing: false # Enable/disable running the MPC in another process in parallel of the main loop
+ enable_multiprocessing: true # Enable/disable running the MPC in another process in parallel of the main loop
perfect_estimator: false # Enable/disable perfect estimator by using data directly from PyBullet
# General control parameters
@@ -47,10 +47,10 @@ robot:
# Parameters of InvKin
Kp_flyingfeet: 100.0 # Proportional gain for feet position tasks
Kd_flyingfeet: 10.0 # 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
- Kd_base_orientation: [100.0, 100.0, 100.0] # Derivative gains for the base orientation task
+ Kp_base_position: [100.0, 100.0, 100.0] # Proportional gains for the base position task
+ Kd_base_position: [10.0, 10.0, 10.0] # Derivative gains for the base position task
+ Kp_base_orientation: [100.0, 100.0, 100.0] # Proportional gains for the base orientation task
+ Kd_base_orientation: [10.0, 10.0, 10.0] # Derivative gains for the base orientation task
w_tasks: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0] #Â Tasks weights: [feet/base, vx, vy, vz, roll+wroll, pitch+wpitch, wyaw]
# Parameters of WBC QP problem
--
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