From 837a0836cdcb8f58c50959458153b47b4e86e495 Mon Sep 17 00:00:00 2001
From: Ale <alessandroassirell98@gmail.com>
Date: Fri, 12 Aug 2022 11:11:58 +0200
Subject: [PATCH] circular motion ready for testing
---
config/walk_parameters.yaml | 4 ++--
python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py | 2 +-
python/quadruped_reactive_walking/WB_MPC/ProblemData.py | 4 ++--
3 files changed, 5 insertions(+), 5 deletions(-)
diff --git a/config/walk_parameters.yaml b/config/walk_parameters.yaml
index ce736c5b..95225b9b 100644
--- a/config/walk_parameters.yaml
+++ b/config/walk_parameters.yaml
@@ -13,7 +13,7 @@ robot:
predefined_vel: true # If we are using a predefined reference velocity (True) or a joystick (False)
N_SIMULATION: 5000 # Number of simulated wbc time steps
enable_corba_viewer: false # Enable/disable Corba Viewer
- enable_multiprocessing: true # Enable/disable running the MPC in another process in parallel of the main loop
+ enable_multiprocessing: false # Enable/disable running the MPC in another process in parallel of the main loop
perfect_estimator: true # Enable/disable perfect estimator by using data directly from PyBullet
# General control parameters
@@ -25,7 +25,7 @@ robot:
dt_mpc: 0.015 # Time step of the model predictive control
type_MPC: 3 # Which MPC solver you want to use: 0 for OSQP MPC, 1, 2, 3 for Crocoddyl MPCs
save_guess: false # true to interpolate the impedance quantities between nodes of the MPC
- movement: "step" # name of the movement to perform
+ movement: "circle" # name of the movement to perform
interpolate_mpc: false # true to interpolate the impedance quantities between nodes of the MPC
interpolation_type: 3 # 0,1,2,3 decide which kind of interpolation is used
# Kp_main: [0.0, 0.0, 0.0] # Proportional gains for the PD+
diff --git a/python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py b/python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py
index 3cd46774..571dde8e 100644
--- a/python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py
+++ b/python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py
@@ -12,7 +12,7 @@ from time import time
class OCP:
def __init__(self, pd: ProblemData, footsteps, gait):
self.pd = pd
- self.max_iter = 1000
+ self.max_iter = 1
self.state = crocoddyl.StateMultibody(self.pd.model)
self.initialized = False
diff --git a/python/quadruped_reactive_walking/WB_MPC/ProblemData.py b/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
index 286fd78d..663c04f7 100644
--- a/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
+++ b/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
@@ -181,11 +181,11 @@ class ProblemDataFull(problemDataAbstract):
# Cost function weights
# Cost function weights
self.mu = 0.7
- self.foot_tracking_w = 1e5
+ self.foot_tracking_w = 1e4
# self.friction_cone_w = 1e3 * 0
self.control_bound_w = 1e3
self.control_reg_w = 1e-1
- self.state_reg_w = np.array([1e-1] * 3 + [1e-1] * 3)
+ self.state_reg_w = np.array([1e-1] * 3 + [1e0] * 3)
self.terminal_velocity_w = np.array([0] * 3 + [1e3] * 3)
self.q0_reduced = self.q0[10:13]
--
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