From 0e580c220de6bb4fe1e5c3df65bac3de1d87472c Mon Sep 17 00:00:00 2001
From: Fanny Risbourg <frisbourg@laas.fr>
Date: Mon, 12 Sep 2022 13:28:38 +0200
Subject: [PATCH] working 1KHz
---
config/walk_parameters.yaml | 4 +--
.../quadruped_reactive_walking/Controller.py | 30 +++++++++----------
2 files changed, 17 insertions(+), 17 deletions(-)
diff --git a/config/walk_parameters.yaml b/config/walk_parameters.yaml
index 5c86cf71..ca11e461 100644
--- a/config/walk_parameters.yaml
+++ b/config/walk_parameters.yaml
@@ -22,7 +22,7 @@ robot:
# q_init: [0.0, 0.764, -1.407, 0.0, 0.76407, -1.4, 0.0, 0.76407, -1.407, 0.0, 0.764, -1.407] # h_com = 0.218
q_init: [0.0, 0.7, -1.4, 0.0, 0.7, -1.4, 0.0, -0.7, 1.4, 0.0, -0.7, 1.4] # Initial articular positions
dt_wbc: 0.001 # Time step of the whole body control
- dt_mpc: 0.01 # Time step of the model predictive control
+ dt_mpc: 0.001 # Time step of the model predictive control
type_MPC: 3 # Which MPC solver you want to use: 0 for OSQP MPC, 1, 2, 3 for Crocoddyl MPCs
save_guess: false # true to interpolate the impedance quantities between nodes of the MPC
movement: "circle" # name of the movement to perform
@@ -37,7 +37,7 @@ robot:
# Parameters of Gait
N_periods: 1
- gait: [5, 0, 0, 0, 0] # Initial gait matrix
+ gait: [50, 0, 0, 0, 0] # Initial gait matrix
# Parameters of Joystick
gp_alpha_vel: 0.003 # Coefficient of the low pass filter applied to gamepad velocity
diff --git a/python/quadruped_reactive_walking/Controller.py b/python/quadruped_reactive_walking/Controller.py
index 026b6cc6..eb8a0939 100644
--- a/python/quadruped_reactive_walking/Controller.py
+++ b/python/quadruped_reactive_walking/Controller.py
@@ -274,21 +274,21 @@ class Controller:
self.result.FF = self.params.Kff_main * np.ones(12)
self.result.tau_ff[3:6] = self.compute_torque(m)[:]
- if self.params.interpolate_mpc:
- if self.mpc_result.new_result:
- if self.params.interpolation_type == 3:
- self.interpolator.update(xs[0], xs[1], xs[2])
- # self.interpolator.plot(self.pd.mpc_wbc_ratio, self.pd.dt_wbc)
- t = (self.k - self.k_solve + 1) * self.pd.dt_wbc
- q, v = self.interpolator.interpolate(t)
- else:
- q, v = self.integrate_x(m)
-
- # self.result.q_des[3:6] = xs[1][:3]
- # self.result.v_des[3:6] = xs[1][3:]
-
- self.result.q_des[3:6] = q
- self.result.v_des[3:6] = v
+ # if self.params.interpolate_mpc:
+ # if self.mpc_result.new_result:
+ # if self.params.interpolation_type == 3:
+ # self.interpolator.update(xs[0], xs[1], xs[2])
+ # # self.interpolator.plot(self.pd.mpc_wbc_ratio, self.pd.dt_wbc)
+ # t = (self.k - self.k_solve + 1) * self.pd.dt_wbc
+ # q, v = self.interpolator.interpolate(t)
+ # else:
+ # q, v = self.integrate_x(m)
+
+ self.result.q_des[3:6] = xs[1][:3]
+ self.result.v_des[3:6] = xs[1][3:]
+
+ # self.result.q_des[3:6] = q
+ # self.result.v_des[3:6] = v
if self.axs is not None:
[
--
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