quadruped_ros2_control/descriptions/unitree/go2_description/config/ocs2/task.info

centroidalModelType             0      // 0: FullCentroidalDynamics, 1: Single Rigid Body Dynamics

legged_robot_interface
{
  verbose                               false  // show the loaded parameters
}

model_settings
{
  positionErrorGain             0.0
  phaseTransitionStanceTime     0.1

  verboseCppAd                  true
  recompileLibrariesCppAd       false
  modelFolderCppAd              /tmp/ocs2_quadruped_controller/go2
}

swing_trajectory_config
{
  liftOffVelocity               0.05
  touchDownVelocity            -0.1
  swingHeight                   0.08
  swingTimeScale                0.15
}

; DDP settings
ddp
{
  algorithm                       SLQ

  nThreads                        3
  threadPriority                  50

  maxNumIterations                1
  minRelCost                      1e-1
  constraintTolerance             5e-3

  displayInfo                     false
  displayShortSummary             false
  checkNumericalStability         false
  debugPrintRollout               false
  debugCaching                    false

  AbsTolODE                       1e-5
  RelTolODE                       1e-3
  maxNumStepsPerSecond            10000
  timeStep                        0.015
  backwardPassIntegratorType      ODE45

  constraintPenaltyInitialValue   20.0
  constraintPenaltyIncreaseRate   2.0

  preComputeRiccatiTerms          true

  useFeedbackPolicy               false

  strategy                        LINE_SEARCH
  lineSearch
  {
    minStepLength                 1e-2
    maxStepLength                 1.0
    hessianCorrectionStrategy     DIAGONAL_SHIFT
    hessianCorrectionMultiple     1e-5
  }
}


; Multiple_Shooting SQP settings
sqp
{
  nThreads                              3
  dt                                    0.015
  sqpIteration                          1
  deltaTol                              1e-4
  g_max                                 1e-2
  g_min                                 1e-6
  inequalityConstraintMu                0.1
  inequalityConstraintDelta             5.0
  projectStateInputEqualityConstraints  true
  printSolverStatistics                 true
  printSolverStatus                     false
  printLinesearch                       false
  useFeedbackPolicy                     false
  integratorType                        RK2
  threadPriority                        50
}

; Multiple_Shooting IPM settings
ipm
{
  nThreads                              3
  dt                                    0.015
  ipmIteration                          1
  deltaTol                              1e-4
  g_max                                 10.0
  g_min                                 1e-6
  computeLagrangeMultipliers            true
  printSolverStatistics                 true
  printSolverStatus                     false
  printLinesearch                       false
  useFeedbackPolicy                     false
  integratorType                        RK2
  threadPriority                        50

  initialBarrierParameter               1e-4
  targetBarrierParameter                1e-4
  barrierLinearDecreaseFactor           0.2
  barrierSuperlinearDecreasePower       1.5
  barrierReductionCostTol               1e-3
  barrierReductionConstraintTol         1e-3

  fractionToBoundaryMargin              0.995
  usePrimalStepSizeForDual              false

  initialSlackLowerBound                1e-4
  initialDualLowerBound                 1e-4
  initialSlackMarginRate                1e-2
  initialDualMarginRate                 1e-2
}

; Rollout settings
rollout
{
  AbsTolODE                       1e-5
  RelTolODE                       1e-3
  timeStep                        0.015
  integratorType                  ODE45
  maxNumStepsPerSecond            10000
  checkNumericalStability         false
}

mpc
{
  timeHorizon                     1.0  ; [s]
  solutionTimeWindow              -1   ; maximum [s]
  coldStart                       false

  debugPrint                      false

  mpcDesiredFrequency             100  ; [Hz]
  mrtDesiredFrequency             1000 ; [Hz] Useless
}

initialState
{
   ;; Normalized Centroidal Momentum: [linear, angular] ;;
   (0,0)  0.0     ; vcom_x
   (1,0)  0.0     ; vcom_y
   (2,0)  0.0     ; vcom_z
   (3,0)  0.0     ; L_x / robotMass
   (4,0)  0.0     ; L_y / robotMass
   (5,0)  0.0     ; L_z / robotMass

   ;; Base Pose: [position, orientation] ;;
   (6,0)  0.0     ; p_base_x
   (7,0)  0.0     ; p_base_y
   (8,0)  0.3     ; p_base_z
   (9,0)  0.0     ; theta_base_z
   (10,0) 0.0     ; theta_base_y
   (11,0) 0.0     ; theta_base_x

   ;; Leg Joint Positions: [FL, RL, FR, RR] ;;
   (12,0) -0.20   ; FL_hip_joint
   (13,0)  0.72   ; FL_thigh_joint
   (14,0) -1.44   ; FL_calf_joint
   (15,0) -0.20   ; RL_hip_joint
   (16,0)  0.72   ; RL_thigh_joint
   (17,0) -1.44   ; RL_calf_joint
   (18,0)  0.20   ; FR_hip_joint
   (19,0)  0.72   ; FR_thigh_joint
   (20,0) -1.44   ; FR_calf_joint
   (21,0)  0.20   ; RR_hip_joint
   (22,0)  0.72   ; RR_thigh_joint
   (23,0) -1.44   ; RR_calf_joint
}

; standard state weight matrix
Q
{
  scaling 1e+0

  ;; Normalized Centroidal Momentum: [linear, angular] ;;
  (0,0)   15.0     ; vcom_x
  (1,1)   15.0     ; vcom_y
  (2,2)   100.0    ; vcom_z
  (3,3)   10.0     ; L_x / robotMass
  (4,4)   30.0     ; L_y / robotMass
  (5,5)   30.0     ; L_z / robotMass

  ;; Base Pose: [position, orientation] ;;
  (6,6)   1000.0   ; p_base_x
  (7,7)   1000.0   ; p_base_y
  (8,8)   1500.0   ; p_base_z
  (9,9)   100.0    ; theta_base_z
  (10,10) 300.0    ; theta_base_y
  (11,11) 300.0    ; theta_base_x

  ;; Leg Joint Positions: [FL, RL, FR, RR] ;;
  (12,12) 5.0     ; FL_hip_joint
  (13,13) 5.0     ; FL_thigh_joint
  (14,14) 2.5     ; FL_calf_joint
  (15,15) 5.0     ; RL_hip_joint
  (16,16) 5.0     ; RL_thigh_joint
  (17,17) 2.5     ; RL_calf_joint
  (18,18) 5.0     ; FR_hip_joint
  (19,19) 5.0     ; FR_thigh_joint
  (20,20) 2.5     ; FR_calf_joint
  (21,21) 5.0     ; RR_hip_joint
  (22,22) 5.0     ; RR_thigh_joint
  (23,23) 2.5     ; RR_calf_joint
}

; control weight matrix
R
{
  scaling 1e-3

  ;; Feet Contact Forces: [FL, FR, RL, RR] ;;
  (0,0)   1.0       ; front_left_force
  (1,1)   1.0       ; front_left_force
  (2,2)   1.0       ; front_left_force
  (3,3)   1.0       ; front_right_force
  (4,4)   1.0       ; front_right_force
  (5,5)   1.0       ; front_right_force
  (6,6)   1.0       ; rear_left_force
  (7,7)   1.0       ; rear_left_force
  (8,8)   1.0       ; rear_left_force
  (9,9)   1.0       ; rear_right_force
  (10,10) 1.0       ; rear_right_force
  (11,11) 1.0       ; rear_right_force

  ;; foot velocity relative to base: [FL, RL, FR, RR] (uses the Jacobian at nominal configuration) ;;
  (12,12) 5000.0    ; x
  (13,13) 5000.0    ; y
  (14,14) 5000.0    ; z
  (15,15) 5000.0    ; x
  (16,16) 5000.0    ; y
  (17,17) 5000.0    ; z
  (18,18) 5000.0    ; x
  (19,19) 5000.0    ; y
  (20,20) 5000.0    ; z
  (21,21) 5000.0    ; x
  (22,22) 5000.0    ; y
  (23,23) 5000.0    ; z
}

frictionConeSoftConstraint
{
  frictionCoefficient    0.3

  ; relaxed log barrier parameters
  mu                     0.1
  delta                  5.0
}

selfCollision
{
  ; Self Collision raw object pairs
  collisionObjectPairs
  {
  }

  ; Self Collision pairs
  collisionLinkPairs
  {
    [0] "FL_calf, FR_calf"
    [1] "RL_calf, RR_calf"
    [2] "FL_calf, RL_calf"
    [3] "FR_calf, RR_calf"
    [4] "FL_foot, FR_foot"
    [5] "RL_foot, RR_foot"
    [6] "FL_foot, RL_foot"
    [7] "FR_foot, RR_foot"
  }

  minimumDistance  0.05

  ; relaxed log barrier parameters
  mu      1e-2
  delta   1e-3
}

; Whole body control
torqueLimitsTask
{
   (0,0)  23.7     ; HAA
   (1,0)  23.7     ; HFE
   (2,0)  35.5     ; KFE
}

frictionConeTask
{
  frictionCoefficient    0.3
}

swingLegTask
{
    kp                   350
    kd                   37
}

weight
{
    swingLeg        100
    baseAccel       1
    contactForce    0.01
}

; State Estimation
kalmanFilter
{
    footRadius                  0.02
    imuProcessNoisePosition     0.02
    imuProcessNoiseVelocity     0.02
    footProcessNoisePosition    0.002
    footSensorNoisePosition     0.005
    footSensorNoiseVelocity     0.1
    footHeightSensorNoise       0.01
}