From bd5d51e2a85231e4adecb2d23ad2c2f5ccf62087 Mon Sep 17 00:00:00 2001
From: Ale <alessandroassirell98@gmail.com>
Date: Fri, 22 Jul 2022 15:46:52 +0200
Subject: [PATCH] 1KHz mpc (reduced model) Closed loop Still target Only
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---
python/quadruped_reactive_walking/Controller.py | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/python/quadruped_reactive_walking/Controller.py b/python/quadruped_reactive_walking/Controller.py
index b0b45f2e..f0b0725c 100644
--- a/python/quadruped_reactive_walking/Controller.py
+++ b/python/quadruped_reactive_walking/Controller.py
@@ -108,9 +108,9 @@ class Controller:
self.mpc_result, self.mpc_cost = self.mpc.get_latest_result()
#self.result.P = np.array(self.params.Kp_main.tolist() * 4)
- self.result.P = np.array([5] * 3 + [3] * 3 + [5]*6)
+ self.result.P = np.array([5] * 3 + [0] * 3 + [5]*6)
#self.result.D = np.array(self.params.Kd_main.tolist() * 4)
- self.result.D = np.array([0.3] * 3 + [0.5] * 3 + [0.3]*6)
+ self.result.D = np.array([0.3] * 3 + [0] * 3 + [0.3]*6)
tauFF = self.mpc_result.u[0] + np.dot(self.mpc_result.K[0], self.mpc.ocp.state.diff(m["x_m"], self.mpc_result.x[0]))
self.result.FF = self.params.Kff_main * np.array([0] * 3 + list(tauFF) + [0]*6)
--
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