From d42a3fa99a0a10d88484cb0ca8e1a8dfba0288d7 Mon Sep 17 00:00:00 2001
From: odri <odri@furano.laas.fr>
Date: Fri, 24 Sep 2021 18:06:17 +0200
Subject: [PATCH] Tuning yaml parameters to debug the control
---
src/config_solo12.yaml | 25 ++++++++++++++-----------
1 file changed, 14 insertions(+), 11 deletions(-)
diff --git a/src/config_solo12.yaml b/src/config_solo12.yaml
index e0f93df3..eadfbb2b 100644
--- a/src/config_solo12.yaml
+++ b/src/config_solo12.yaml
@@ -9,14 +9,16 @@ robot:
use_flat_plane: true # If True the ground is flat, otherwise it has bumps
predefined_vel: true # If we are using a predefined reference velocity (True) or a joystick (False)
velID: 10 # Identifier of the reference velocity profile to choose which one will be sent to the robot
- N_SIMULATION: 30000 # Number of simulated wbc time steps
- enable_pyb_GUI: true # Enable/disable PyBullet GUI
+ N_SIMULATION: 9000 # Number of simulated wbc time steps
+ enable_pyb_GUI: false # Enable/disable PyBullet GUI
enable_corba_viewer: false # Enable/disable Corba Viewer
- enable_multiprocessing: true # Enable/disable running the MPC in another process in parallel of the main loop
+ enable_multiprocessing: false # 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
- q_init: [0.0, 0.7, -1.4, -0.0, 0.7, -1.4, 0.0, -0.7, 1.4, -0.0, -0.7, 1.4] # Initial articular positions
+ # [0.0, 0.865, -1.583, 0.0, 0.865, -1.583, 0.0, 0.865, -1.583, 0.0, 0.865, -1.583] # h_com = 0.2
+ # [0.0, 0.764, -1.407, 0.0, 0.76407, -1.4, 0.0, 0.76407, -1.407, 0.0, 0.764, -1.407] #Â h_com = 0.218
+ q_init: [0.0, 0.7, -1.4, 0.0, 0.7, -1.4, 0.0, -0.7, 1.4, 0.0, -0.7, 1.4] # Initial articular positions
dt_wbc: 0.001 # Time step of the whole body control
dt_mpc: 0.02 # Time step of the model predictive control
type_MPC: 0 # Which MPC solver you want to use: 0 for OSQP MPC, 1, 2, 3 for Crocoddyl MPCs
@@ -41,21 +43,22 @@ robot:
vert_time: 0.03 # Duration during which feet move only along Z when taking off and landing
# Parameters of MPC with OSQP
+ # [0.0, 0.0, 20.0, 0.25, 0.25, 10.0, 0.05, 0.05, 0.2, 0.0, 0.0, 0.3]
osqp_w_states: [2.0, 2.0, 20.0, 0.25, 0.25, 10.0, 0.2, 0.2, 0.2, 0.0, 0.0, 0.3] # Weights for state tracking error
osqp_w_forces: [0.00005, 0.00005, 0.00005] # Weights for force regularisation
osqp_Nz_lim: 35.0 # Maximum vertical force that can be applied at contact points
# Parameters of InvKin
- 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
- Kd_base_orientation: [100.0, 100.0, 100.0] # Derivative gains for the base orientation task
+ Kp_flyingfeet: 10.0 # Proportional gain for feet position tasks
+ Kd_flyingfeet: 1.0 # Derivative gain for feet position tasks
+ Kp_base_position: [0.0, 0.0, 0.0] # Proportional gains for the base position task
+ Kd_base_position: [100.0, 100.0, 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
Q1: 0.1 # Weights for the "delta articular accelerations" optimization variables
- Q2: 5.0 # Weights for the "delta contact forces" optimization variables
+ Q2: 10.0 # 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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