From a1c371ed5ac1570ea7f51a82346c89bf9f78bda3 Mon Sep 17 00:00:00 2001
From: odri <odri@furano.laas.fr>
Date: Thu, 28 Jul 2022 15:45:49 +0200
Subject: [PATCH] Fourth experiment : CL + FF + dt = 1.4ms + circular target
---
config/walk_parameters.yaml | 2 +-
python/quadruped_reactive_walking/Controller.py | 2 +-
python/quadruped_reactive_walking/WB_MPC/Target.py | 4 ++--
3 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/config/walk_parameters.yaml b/config/walk_parameters.yaml
index 3fb5c80b..5e1e0364 100644
--- a/config/walk_parameters.yaml
+++ b/config/walk_parameters.yaml
@@ -25,7 +25,7 @@ robot:
dt_mpc: 0.0014 # 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
# Kp_main: [0.0, 0.0, 0.0] # Proportional gains for the PD+
- Kp_main: [3, 3, 3] # Proportional gains for the PD+
+ Kp_main: [4, 4, 4] # Proportional gains for the PD+
# Kd_main: [0., 0., 0.] # Derivative gains for the PD+
Kd_main: [0.3, 0.3, 0.3] # Derivative gains for the PD+
# Kff_main: 0.0 # Feedforward torques multiplier for the PD+
diff --git a/python/quadruped_reactive_walking/Controller.py b/python/quadruped_reactive_walking/Controller.py
index 12f9b271..50c62b49 100644
--- a/python/quadruped_reactive_walking/Controller.py
+++ b/python/quadruped_reactive_walking/Controller.py
@@ -153,7 +153,7 @@ class Controller:
if self.error:
self.set_null_control()
- self.pyb_camera(device)
+ # self.pyb_camera(device)
self.t_loop = time.time() - t_start
self.k += 1
diff --git a/python/quadruped_reactive_walking/WB_MPC/Target.py b/python/quadruped_reactive_walking/WB_MPC/Target.py
index 2a3b7f20..fd209d26 100644
--- a/python/quadruped_reactive_walking/WB_MPC/Target.py
+++ b/python/quadruped_reactive_walking/WB_MPC/Target.py
@@ -29,8 +29,8 @@ class Target:
pin.updateFramePlacements(pd.model, pd.rdata)
self.FR_foot0 = pd.rdata.oMf[pd.rfFootId].translation.copy()
self.A = np.array([0, 0.03, 0.03])
- self.offset = np.array([0.04, 0, 0.06])
- self.freq = np.array([0, 0.5 * 0, 0.5 * 0])
+ self.offset = np.array([0.05, -0.02, 0.06])
+ self.freq = np.array([0, 0.5, 0.5])
self.phase = np.array([0, np.pi / 2, 0])
def patternToId(self, gait):
--
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