1KHz mpc (reduced model)

Open loop
Still target
Only impedance control

python/quadruped_reactive_walking/Controller.py

@@ -92,13 +92,13 @@ class Controller:
         m = self.read_state(device)
 
         try:
-            self.mpc.solve(self.k, m['x_m'], self.guess) # Closed loop mpc
+            #self.mpc.solve(self.k, m['x_m'], self.guess) # Closed loop mpc
 
             # Trajectory tracking
-            #if self.initialized:
-            #    self.mpc.solve(self.k, self.mpc_result.x[1], self.guess)
-            #else:
-            #    self.mpc.solve(self.k, m["x_m"], self.guess)
+            if self.initialized:
+                self.mpc.solve(self.k, self.mpc_result.x[1], self.guess)
+            else:
+                self.mpc.solve(self.k, m["x_m"], self.guess)
 
         except ValueError:
             self.error = True

python/quadruped_reactive_walking/main_solo12_control.py

@@ -191,7 +191,7 @@ def control_loop():
             device.joints.set_velocity_gains(controller.result.D)
             device.joints.set_desired_positions(controller.result.q_des)
             device.joints.set_desired_velocities(controller.result.v_des)
-            device.joints.set_torques(controller.result.FF)
+            #device.joints.set_torques(controller.result.FF)
             device.send_command_and_wait_end_of_cycle(params.dt_wbc)
 
         if params.LOGGING or params.PLOTTING: