config_a1_sim.yaml

# Static parameters fsm stand up for a1 sim
standup:
  Kp_joint0: 80
  Kp_joint1: 50
  Kp_joint2: 50

  Kd_joint0: 3
  Kd_joint1: 3
  Kd_joint2: 3

  Kp_cartesian_x: 1000
  Kp_cartesian_y: 1000
  Kp_cartesian_z: 1200

  Kd_cartesian_x: 35
  Kd_cartesian_y: 35
  Kd_cartesian_z: 55

#-------------------------------
static_params:
  max_vel_x: 0.7
  max_vel_y: 0.4
  max_turn_rate: 2.5
  r_circle: 0.09

# qpOASES
  mpc_alpha: 4.e-5
  Q_roll: 0.25
  Q_pitch: 0.25
  Q_yaw: 10
  Q_x: 2
  Q_y: 2
  Q_z: 10
  Q_w_roll: 0.2
  Q_w_pitch: 0.2
  Q_w_yaw: 0.3
  Q_vx: 1
  Q_vy: 1
  Q_vz: 15

  # osqp
  # mpc_alpha: 0.7e-5
  # Q_roll: 1
  # Q_pitch: 5
  # Q_yaw: 1
  # Q_x: 1
  # Q_y: 1
  # Q_z: 100
  # Q_w_roll: 0.1
  # Q_w_pitch: 0.05
  # Q_w_yaw: 0.1
  # Q_vx: 1
  # Q_vy: 1
  # Q_vz: 10

  # jcqp
  # mpc_alpha: 0.2e-5
  # Q_roll: 5
  # Q_pitch: 5
  # Q_yaw: 1
  # Q_x: 0.1
  # Q_y: 0.1
  # Q_z: 10
  # Q_w_roll: 5
  # Q_w_pitch: 5
  # Q_w_yaw: 1
  # Q_vx: 20
  # Q_vy: 20
  # Q_vz: 10