From 8688336d19aabdbdef89cbe132cfddef120afbec Mon Sep 17 00:00:00 2001
From: Ale <alessandroassirell98@gmail.com>
Date: Mon, 8 Aug 2022 15:13:49 +0200
Subject: [PATCH] improved tracking
---
config/walk_parameters.yaml | 2 +-
python/quadruped_reactive_walking/WB_MPC/ProblemData.py | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/config/walk_parameters.yaml b/config/walk_parameters.yaml
index 9fd8366f..50d4e5ca 100644
--- a/config/walk_parameters.yaml
+++ b/config/walk_parameters.yaml
@@ -22,7 +22,7 @@ robot:
# q_init: [0.0, 0.764, -1.407, 0.0, 0.76407, -1.4, 0.0, 0.76407, -1.407, 0.0, 0.764, -1.407] # h_com = 0.218
q_init: [0.0, 0.7, -1.4, 0.0, 0.7, -1.4, 0.0, -0.7, 1.4, 0.0, -0.7, 1.4] # Initial articular positions
dt_wbc: 0.001 # Time step of the whole body control
- dt_mpc: 0.001 # Time step of the model predictive control
+ 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
interpolate_mpc: true # true to interpolate the impedance quantities between nodes of the MPC
diff --git a/python/quadruped_reactive_walking/WB_MPC/ProblemData.py b/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
index 65396470..1ec400f9 100644
--- a/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
+++ b/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
@@ -9,7 +9,7 @@ class problemDataAbstract:
self.dt_wbc = param.dt_wbc
self.mpc_wbc_ratio = int(self.dt / self.dt_wbc)
self.init_steps = 0
- self.target_steps = 60
+ self.target_steps = 150
self.T = self.init_steps + self.target_steps - 1
self.robot = erd.load("solo12")
--
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