imporved behaviour

python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py

@@ -236,7 +236,7 @@ class Node:
                                self.pd.control_bound_w)
 
         self.add_friction_cone(supportFootIds)
-        self.add_force_reg(supportFootIds)
+        #self.add_force_reg(supportFootIds)
         self.tracking_cost(swingFootTask, supportFootIds)
 
     def update_contact_model(self, supportFootIds):
@@ -255,7 +255,7 @@ class Node:
             )
 
         self.add_friction_cone(supportFootIds)
-        self.add_force_reg(supportFootIds)
+        #self.add_force_reg(supportFootIds)
 
     def add_friction_cone(self, supportFootIds):
         for i in supportFootIds:

python/quadruped_reactive_walking/WB_MPC/ProblemData.py

@@ -95,9 +95,9 @@ class ProblemData(problemDataAbstract):
         self.control_reg_w = 1e1
         self.state_reg_w = np.array([0] * 3
                                     + [1e1] * 3
-                                    + [1e0] * 3
+                                    + [1e1] * 3
                                     + [1e-3] * 3
-                                    + [1e0] * 6
+                                    + [1e1] * 6
                                     + [0] * 6
                                     + [1e1] * 3
                                     + [1e-1] * 3