From 5d1017690f11a270d1c4eb1479de75dad287b6ac Mon Sep 17 00:00:00 2001
From: Ale <alessandroassirell98@gmail.com>
Date: Wed, 13 Jul 2022 15:45:44 +0200
Subject: [PATCH] working on walking (very stiff)
---
python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py | 2 +-
python/quadruped_reactive_walking/WB_MPC/ProblemData.py | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py b/python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py
index c0eddbee..0d5470aa 100644
--- a/python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py
+++ b/python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py
@@ -126,7 +126,7 @@ class CasadiOCP:
eq.append(self.runningModels[t].constraint_dynamics_eq())
eq.append(self.runningModels[t].difference(self.xs[t + 1], xnext) - np.zeros(self.pd.ndx))
- #ineq.append(self.runningModels[t].constraint_swing_feet_ineq(self.pd.xref, k = self.pd.k))
+ ineq.append(self.runningModels[t].constraint_swing_feet_ineq(self.pd.xref, k = self.pd.k))
ineq.append(self.runningModels[t].constraint_standing_feet_ineq())
totalcost += rcost
diff --git a/python/quadruped_reactive_walking/WB_MPC/ProblemData.py b/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
index b60e4fc0..d9652dc5 100644
--- a/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
+++ b/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
@@ -74,7 +74,7 @@ class ProblemData(problemDataAbstract):
self.mu = 0.7
self.friction_cone_w = 1e3
#self.control_bound_w = 1e3
- self.control_reg_w = 1e0 * 0
+ self.control_reg_w = 1e1
self.state_reg_w = np.array([0] * 3 \
+ [1e0] * 3 \
+ [1e1] * 12 \
--
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