From aa68076087540d8b1e8a7386aa4cb2062c9b94a6 Mon Sep 17 00:00:00 2001
From: Ale <alessandroassirell98@gmail.com>
Date: Fri, 12 Aug 2022 10:43:12 +0200
Subject: [PATCH] step movement ready for test
---
python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py | 2 +-
python/quadruped_reactive_walking/WB_MPC/ProblemData.py | 6 +++---
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 571dde8e..3cd46774 100644
--- a/python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py
+++ b/python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py
@@ -12,7 +12,7 @@ from time import time
class OCP:
def __init__(self, pd: ProblemData, footsteps, gait):
self.pd = pd
- self.max_iter = 1
+ self.max_iter = 1000
self.state = crocoddyl.StateMultibody(self.pd.model)
self.initialized = False
diff --git a/python/quadruped_reactive_walking/WB_MPC/ProblemData.py b/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
index 46e520d8..286fd78d 100644
--- a/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
+++ b/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
@@ -181,11 +181,11 @@ class ProblemDataFull(problemDataAbstract):
# Cost function weights
# Cost function weights
self.mu = 0.7
- self.foot_tracking_w = 1e3
+ self.foot_tracking_w = 1e5
# self.friction_cone_w = 1e3 * 0
self.control_bound_w = 1e3
- self.control_reg_w = 1e0
- self.state_reg_w = np.array([1e-5] * 3 + [1e0] * 3)
+ self.control_reg_w = 1e-1
+ self.state_reg_w = np.array([1e-1] * 3 + [1e-1] * 3)
self.terminal_velocity_w = np.array([0] * 3 + [1e3] * 3)
self.q0_reduced = self.q0[10:13]
--
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