From 88203e4f6f08b3c96b6e89e291ab4c421912055a Mon Sep 17 00:00:00 2001
From: Ale <alessandroassirell98@gmail.com>
Date: Wed, 10 Aug 2022 16:50:10 +0200
Subject: [PATCH] imporved behaviour
---
python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py | 4 ++--
python/quadruped_reactive_walking/WB_MPC/ProblemData.py | 4 ++--
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py b/python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py
index 00bb657c..d6eda991 100644
--- a/python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py
+++ b/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:
diff --git a/python/quadruped_reactive_walking/WB_MPC/ProblemData.py b/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
index bb038cc3..ed3fdd4d 100644
--- a/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
+++ b/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
--
GitLab