From 367c07ca2f89679d34f2a6acd53dd795d44e23c2 Mon Sep 17 00:00:00 2001
From: Ale <alessandroassirell98@gmail.com>
Date: Wed, 27 Jul 2022 11:38:03 +0200
Subject: [PATCH] 1KHz mpc (reduced model) Open loop EndEff tracking cost Only
Impedance
---
python/quadruped_reactive_walking/Controller.py | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/python/quadruped_reactive_walking/Controller.py b/python/quadruped_reactive_walking/Controller.py
index cebbe101..672bb27b 100644
--- a/python/quadruped_reactive_walking/Controller.py
+++ b/python/quadruped_reactive_walking/Controller.py
@@ -96,15 +96,15 @@ class Controller:
self.point_target = self.target.evaluate_in_t(1)[self.pd.rfFootId]
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)
- # ### ONLY IF YOU WANT TO STORE THE FIRST SOLUTION TO WARMSTART THE INITIAL Problem ###
+ ### ONLY IF YOU WANT TO STORE THE FIRST SOLUTION TO WARMSTART THE INITIAL Problem ###
#if not self.initialized:
# np.save(open('/tmp/init_guess.npy', "wb"), {"xs": self.mpc.ocp.get_results().x, "us": self.mpc.ocp.get_results().u} )
# print("Initial guess saved")
--
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