From 023dbfa61f28dba3509da74f4649605a5b74ef13 Mon Sep 17 00:00:00 2001
From: odri <odri@furano.laas.fr>
Date: Mon, 26 Sep 2022 19:17:26 +0200
Subject: [PATCH] Use put_on_the_floor torques consistent with legs
configuration
---
python/quadruped_reactive_walking/main_solo12_control.py | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/python/quadruped_reactive_walking/main_solo12_control.py b/python/quadruped_reactive_walking/main_solo12_control.py
index 8bd5259a..c223773d 100644
--- a/python/quadruped_reactive_walking/main_solo12_control.py
+++ b/python/quadruped_reactive_walking/main_solo12_control.py
@@ -55,8 +55,8 @@ def put_on_the_floor(device, q_init):
# Slow increase till 1/4th of mass is supported by each foot
duration_increase = 2.0
steps = int(duration_increase / params.dt_wbc)
- tau_ff = np.array([0.0, 0.022, 0.5] * 2 + [0.0, -0.022, -0.5] * 2)
- # tau_ff = np.array([0.0, 0.022, 0.5, 0.0, 0.022, 0.5, 0.0, 0.025, 0.575, 0.0, 0.025, 0.575])
+ # tau_ff = np.array([0.0, 0.022, 0.5] * 2 + [0.0, -0.022, -0.5] * 2)
+ tau_ff = np.array([0.0, 0.04, 0.54, 0.0, 0.04, 0.54, 0.0, 0.04, 0.62, 0.0, 0.04, 0.62])
for i in range(steps):
device.joints.set_torques(tau_ff * i / steps)
--
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