From ae244e6e5e9b869f1e39af6f2402a7b5f353244d Mon Sep 17 00:00:00 2001
From: odri <odri@furano.laas.fr>
Date: Mon, 26 Sep 2022 19:21:17 +0200
Subject: [PATCH] Disable contact detection, swinging gains and WBC vertical
ref
---
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 564abdc6..5f6fb44f 100644
--- a/python/quadruped_reactive_walking/Controller.py
+++ b/python/quadruped_reactive_walking/Controller.py
@@ -186,7 +186,7 @@ class Controller:
gait_matrix = self.gait.matrix
# Run contact detection
- self.cd.run(
+ """self.cd.run(
self.k,
self.gait,
self.q.reshape((-1, 1)),
@@ -194,7 +194,7 @@ class Controller:
device.joints.measured_torques.reshape((12, 1)),
device,
self.result.q_des[:],
- )
+ )"""
if self.solo3D:
self.retrieve_surfaces()
@@ -243,7 +243,7 @@ class Controller:
self.get_base_targets(reference_state, hRb)
self.base_targets[6] = reference_state[6, 1]
- self.base_targets[8] = reference_state[8, 1]
+ # self.base_targets[8] = reference_state[8, 1]
# self.base_targets[8] = self.mpc_result[8, 0]
self.get_feet_targets(reference_state, oRh, oTh, hRb)
@@ -273,8 +273,8 @@ class Controller:
self.P[3 * i : 3 * (i + 1)] = 3.0
self.D[3 * i : 3 * (i + 1)] = 0.3
else:
- self.P[3 * i : 3 * (i + 1)] = 1.5
- self.D[3 * i : 3 * (i + 1)] = 0.1
+ self.P[3 * i : 3 * (i + 1)] = 3.0
+ self.D[3 * i : 3 * (i + 1)] = 0.3
self.result.P = self.P
self.result.D = self.D
--
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