Tuning for walking forward

src/hippopt/turnkey_planners/humanoid_walking_flat_ground/main.py

@@ -55,7 +55,7 @@ def get_planner_settings() -> walking_planner.Settings:
     )
     idyntree_model = idyntree_model_loader.model()
     settings.root_link = "root_link"
-    settings.horizon_length = 20
+    settings.horizon_length = 30
     settings.time_step = 0.1
     settings.contact_points = hp_rp.FeetContactPointDescriptors()
     settings.contact_points.left = hp_rp.ContactPointDescriptor.rectangular_foot(
@@ -71,12 +71,12 @@ def get_planner_settings() -> walking_planner.Settings:
         top_left_point_position=np.array([0.116, 0.05, 0.0]),
     )
     settings.planar_dcc_height_multiplier = 10.0
-    settings.dcc_gain = 20.0
-    settings.dcc_epsilon = 0.05
+    settings.dcc_gain = 40.0
+    settings.dcc_epsilon = 0.005
     settings.static_friction = 0.3
     settings.maximum_velocity_control = [2.0, 2.0, 5.0]
-    settings.maximum_force_derivative = [1.0, 1.0, 1.0]
-    settings.maximum_angular_momentum = 1.0
+    settings.maximum_force_derivative = [500.0, 500.0, 500.0]
+    settings.maximum_angular_momentum = 5.0
     settings.minimum_com_height = 0.3
     settings.minimum_feet_lateral_distance = 0.1
     settings.maximum_feet_relative_height = 0.05
@@ -101,7 +101,7 @@ def get_planner_settings() -> walking_planner.Settings:
     settings.base_quaternion_cost_multiplier = 50.0
     settings.base_quaternion_velocity_cost_multiplier = 0.001
     settings.joint_regularization_cost_multiplier = 0.1
-    settings.force_regularization_cost_multiplier = 0.2
+    settings.force_regularization_cost_multiplier = 10.0
     settings.foot_yaw_regularization_cost_multiplier = 2000.0
     settings.swing_foot_height_cost_multiplier = 1000.0
     settings.contact_velocity_control_cost_multiplier = 5.0