From 250272b64a162d7d4adb187d40c0b480a03ffbc6 Mon Sep 17 00:00:00 2001
From: paleziart <paleziart@laas.fr>
Date: Thu, 8 Sep 2022 11:16:17 +0200
Subject: [PATCH] Reference base velocities are given to WBC
---
python/quadruped_reactive_walking/Controller.py | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/python/quadruped_reactive_walking/Controller.py b/python/quadruped_reactive_walking/Controller.py
index 47da087e..aee580d8 100644
--- a/python/quadruped_reactive_walking/Controller.py
+++ b/python/quadruped_reactive_walking/Controller.py
@@ -237,6 +237,10 @@ class Controller:
self.get_base_targets(reference_state, hRb)
+ self.base_targets[6] = reference_state[6, 1]
+ self.base_targets[8] = reference_state[8, 1]
+ # self.base_targets[8] = self.mpc_result[8, 0]
+
self.get_feet_targets(reference_state, oRh, oTh, hRb)
self.q_wbc[3:5] = self.q_filtered[3:5]
--
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