From 9b45c5adbac1b8689f61b17c1852bb8f225c75d3 Mon Sep 17 00:00:00 2001
From: Ale <alessandroassirell98@gmail.com>
Date: Fri, 22 Jul 2022 11:49:28 +0200
Subject: [PATCH] 1KHz mpc closed loop impedance
---
python/quadruped_reactive_walking/Controller.py | 10 +++++-----
1 file changed, 5 insertions(+), 5 deletions(-)
diff --git a/python/quadruped_reactive_walking/Controller.py b/python/quadruped_reactive_walking/Controller.py
index 0d03a2d6..a9669d59 100644
--- a/python/quadruped_reactive_walking/Controller.py
+++ b/python/quadruped_reactive_walking/Controller.py
@@ -92,13 +92,13 @@ class Controller:
m = self.read_state(device)
try:
- #self.mpc.solve(self.k, m['x_m'], self.guess) # Closed loop mpc
+ self.mpc.solve(self.k, m['x_m'], self.guess) # Closed loop mpc
# Trajectory tracking
- if self.initialized:
- self.mpc.solve(self.k, self.mpc_result.x[1], self.guess)
- else:
- self.mpc.solve(self.k, m["x_m"], self.guess)
+ #if self.initialized:
+ # self.mpc.solve(self.k, self.mpc_result.x[1], self.guess)
+ #else:
+ # self.mpc.solve(self.k, m["x_m"], self.guess)
except ValueError:
self.error = True
--
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