Baumgarte Stabilization Gains in Contact Dynamics "constraint_model.corrector.Kp and Kd"

[Cfather]

Hi,

I have a quick question on tunning Baumgarte Stabilization Gains in terms of ground contact constraints.
In talos_walk.py, the gains are chosen as:

cm.corrector.Kp[:] = (0, 0, 100, 0, 0, 0)
cm.corrector.Kd[:] = (50, 50, 50, 50, 50, 50)

I wonder why the P gain on the translation force in z direction only is chosen to be 100 while others are 0? And why are Kd non-zero for all directions while Kp are 0?
Does this effectively stabilize the contact constraints? Are there any tips on tuning these parameters and validating their performance?

I appreciate any suggestions! Thanks.

[EthanZengg]

Hello! I encountered the same issue. Have you managed to resolve it?