From 17424759ecf68753157f90cbef260a3449086651 Mon Sep 17 00:00:00 2001
From: Ale <alessandroassirell98@gmail.com>
Date: Wed, 27 Jul 2022 12:33:56 +0200
Subject: [PATCH] 1KHz mpc (reduced model) Closed loop EndEff reach point Only
impedance
---
python/quadruped_reactive_walking/main_solo12_control.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/python/quadruped_reactive_walking/main_solo12_control.py b/python/quadruped_reactive_walking/main_solo12_control.py
index ba51a625..aff682d0 100644
--- a/python/quadruped_reactive_walking/main_solo12_control.py
+++ b/python/quadruped_reactive_walking/main_solo12_control.py
@@ -112,7 +112,7 @@ def damp_control(device, nb_motors):
device.joints.set_velocity_gains(0.1 * np.ones(nb_motors))
device.joints.set_desired_positions(np.zeros(nb_motors))
device.joints.set_desired_velocities(np.zeros(nb_motors))
- device.joints.set_torques(np.zeros(nb_motors))
+ #device.joints.set_torques(np.zeros(nb_motors))
# Send command to the robot
device.send_command_and_wait_end_of_cycle(params.dt_wbc)
--
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