From 1ea41308318bccc47db6e16b4d29fca5ccaed64c Mon Sep 17 00:00:00 2001
From: Ale <alessandroassirell98@gmail.com>
Date: Fri, 22 Jul 2022 16:03:28 +0200
Subject: [PATCH] 1KHz mpc (reduced model) Open loop Still target Only
impedance control
---
python/quadruped_reactive_walking/Controller.py | 10 +++++-----
.../quadruped_reactive_walking/main_solo12_control.py | 2 +-
2 files changed, 6 insertions(+), 6 deletions(-)
diff --git a/python/quadruped_reactive_walking/Controller.py b/python/quadruped_reactive_walking/Controller.py
index 680a689a..c3a6a539 100644
--- a/python/quadruped_reactive_walking/Controller.py
+++ b/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
diff --git a/python/quadruped_reactive_walking/main_solo12_control.py b/python/quadruped_reactive_walking/main_solo12_control.py
index af600e9d..93f4f855 100644
--- a/python/quadruped_reactive_walking/main_solo12_control.py
+++ b/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:
--
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