From 2e8bda3af7f9171404d70602b65ca4ba3b03ec06 Mon Sep 17 00:00:00 2001
From: Ale <alessandroassirell98@gmail.com>
Date: Fri, 22 Jul 2022 14:35:23 +0200
Subject: [PATCH] 1KHz mpc (reduced model) Closed loop Still target 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 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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