From 6c28151386ae38c349322b362e8db170fef01da8 Mon Sep 17 00:00:00 2001
From: Ale <alessandroassirell98@gmail.com>
Date: Wed, 27 Jul 2022 11:47:51 +0200
Subject: [PATCH] 1KHz mpc (reduced model) Closed loop EndEff tracking Circular
motion cost Impedance + Feedforward control
---
python/quadruped_reactive_walking/WB_MPC/ProblemData.py | 2 +-
python/quadruped_reactive_walking/WB_MPC/Target.py | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/python/quadruped_reactive_walking/WB_MPC/ProblemData.py b/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
index c598408e..3c44ceaf 100644
--- a/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
+++ b/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
@@ -117,7 +117,7 @@ class ProblemDataFull(problemDataAbstract):
#self.friction_cone_w = 1e3 * 0
self.control_bound_w = 1e3
self.control_reg_w = 1e0
- self.state_reg_w = np.array([1e-3] * 3 + [5*1e-1]*3)
+ self.state_reg_w = np.array([1e-3] * 3 + [2*1e-1]*3)
self.terminal_velocity_w = np.array([0] * 3 + [1e3] * 3 )
self.q0_reduced = self.q0[10:13]
diff --git a/python/quadruped_reactive_walking/WB_MPC/Target.py b/python/quadruped_reactive_walking/WB_MPC/Target.py
index 2a1e5a8c..881e081f 100644
--- a/python/quadruped_reactive_walking/WB_MPC/Target.py
+++ b/python/quadruped_reactive_walking/WB_MPC/Target.py
@@ -30,7 +30,7 @@ class Target:
self.FR_foot0 = pd.rdata.oMf[pd.rfFootId].translation.copy()
self.A = np.array([0, 0.03, 0.03])
self.offset = np.array([0.08, 0, 0.06])
- self.freq = np.array([0, 2.5, 2.5])
+ self.freq = np.array([0, 1, 1])
self.phase = np.array([0, 0, np.pi / 2])
def patternToId(self, gait):
--
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