forked from amburkoff/be2r_cmpc_unitree
-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathros_config.yaml
104 lines (85 loc) · 2.16 KB
/
ros_config.yaml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
# Dynamic parameters
# Must match with dynamic_reconfigure cfg file
dynamic_loader:
FSM_State: 0
use_wbc: true
# use_wbc: false
# cmpc_gait: 9 # trot
cmpc_gait: 15 # trot long
# cmpc_gait: 4 # stand
test: 0
Kp_joint_0: 3.0
Kp_joint_1: 3.0
Kp_joint_2: 3.0
Kd_joint_0: 1.0
Kd_joint_1: 1.0
Kd_joint_2: 1.0
Kp_ori_0: 100.0
Kp_ori_1: 100.0
Kp_ori_2: 100.0
Kd_ori_0: 10.0
Kd_ori_1: 10.0
Kd_ori_2: 10.0
Kp_body_0: 100.0
Kp_body_1: 100.0
Kp_body_2: 100.0
Kd_body_0: 10.0
Kd_body_1: 10.0
Kd_body_2: 10.0
Kp_foot_0: 500.0
Kp_foot_1: 500.0
Kp_foot_2: 500.0
Kd_foot_0: 10.0
Kd_foot_1: 10.0
Kd_foot_2: 10.0
# Swing leg parameters
# work when WBC turned off
# Kp_cartesian_0: 150
# Kp_cartesian_1: 150
# Kp_cartesian_2: 150
# Kd_cartesian_0: 2.5
# Kd_cartesian_1: 2.5
# Kd_cartesian_2: 2.5
# best for impedance test
Kp_cartesian_0: 900
Kp_cartesian_1: 900
Kp_cartesian_2: 900
Kd_cartesian_0: 15
Kd_cartesian_1: 15
Kd_cartesian_2: 15
body_height: 0.33
Swing_traj_height : 0.17 # Set swing traj top point
# safety
# joint_limits: 1
joint_limits: 0
cmpc_x_drag : 3 # x comp param in solveDenseMPC
cmpc_use_sparse : 0 # switch between sparce and dense mpc
cmpc_bonus_swing : 0 # addition to pfx_rel variable in cmpc_locomotion
# solver params
use_jcqp : 0
jcqp_alpha : 1.5
jcqp_max_iter : 10000
jcqp_rho : 1e-07
jcqp_sigma : 1e-08
jcqp_terminate : 0.1
# For balance controller
stance_legs : 4
# GaitScheduler params (from common/controllers)
gait_type : 4
gait_period : 18
# gait_period : 234 # 18*13
# gait_period : 260
gait_period_time : 0.5
gait_switching_phase : 0.5
gait_override : 4
static_params:
controller_dt : 0.002
cheater_mode : false
horizon : 16
# Estimators
foot_height_sensor_noise : 0.001
foot_process_noise_position : 0.002
foot_sensor_noise_position : 0.001
foot_sensor_noise_velocity : 0.1
imu_process_noise_position : 0.02
imu_process_noise_velocity : 0.02