From c1c930218dcaac06fd0339a283db15a66ca5df3d Mon Sep 17 00:00:00 2001
From: Ale <alessandroassirell98@gmail.com>
Date: Fri, 12 Aug 2022 12:00:19 +0200
Subject: [PATCH] circular motion ready for testing ### Not with integration
---
config/walk_parameters.yaml | 6 +++---
python/quadruped_reactive_walking/Controller.py | 7 -------
python/quadruped_reactive_walking/WB_MPC/ProblemData.py | 2 +-
3 files changed, 4 insertions(+), 11 deletions(-)
diff --git a/config/walk_parameters.yaml b/config/walk_parameters.yaml
index d5081da6..9f0b7b3c 100644
--- a/config/walk_parameters.yaml
+++ b/config/walk_parameters.yaml
@@ -11,9 +11,9 @@ robot:
envID: 0 # Identifier of the environment to choose in which one the simulation will happen
use_flat_plane: true # If True the ground is flat, otherwise it has bumps
predefined_vel: true # If we are using a predefined reference velocity (True) or a joystick (False)
- N_SIMULATION: 5000 # Number of simulated wbc time steps
+ N_SIMULATION: 10000 # Number of simulated wbc time steps
enable_corba_viewer: false # Enable/disable Corba Viewer
- enable_multiprocessing: true # Enable/disable running the MPC in another process in parallel of the main loop
+ enable_multiprocessing: false # Enable/disable running the MPC in another process in parallel of the main loop
perfect_estimator: true # Enable/disable perfect estimator by using data directly from PyBullet
# General control parameters
@@ -26,7 +26,7 @@ robot:
type_MPC: 3 # Which MPC solver you want to use: 0 for OSQP MPC, 1, 2, 3 for Crocoddyl MPCs
save_guess: false # true to interpolate the impedance quantities between nodes of the MPC
movement: "circle" # name of the movement to perform
- interpolate_mpc: false # true to interpolate the impedance quantities between nodes of the MPC
+ interpolate_mpc: true # true to interpolate the impedance quantities between nodes of the MPC
interpolation_type: 3 # 0,1,2,3 decide which kind of interpolation is used
# Kp_main: [0.0, 0.0, 0.0] # Proportional gains for the PD+
# Kd_main: [0., 0., 0.] # Derivative gains for the PD+
diff --git a/python/quadruped_reactive_walking/Controller.py b/python/quadruped_reactive_walking/Controller.py
index e4e2069e..32c81be0 100644
--- a/python/quadruped_reactive_walking/Controller.py
+++ b/python/quadruped_reactive_walking/Controller.py
@@ -271,13 +271,6 @@ class Controller:
if self.params.interpolation_type == 3:
self.interpolator.update(xs[0], xs[1], xs[2])
# self.interpolator.plot(self.pd.mpc_wbc_ratio, self.pd.dt_wbc)
-
- if self.params.interpolate_mpc:
- if self.mpc_result.new_result:
- if self.params.interpolation_type == 3:
- self.interpolator.update(xs[0], xs[1], xs[2])
- # self.interpolator.plot(self.pd.mpc_wbc_ratio, self.pd.dt_wbc)
-
t = (self.k - self.k_solve + 1) * self.pd.dt_wbc
q, v = self.interpolator.interpolate(t)
else:
diff --git a/python/quadruped_reactive_walking/WB_MPC/ProblemData.py b/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
index e2a66019..c8ecf039 100644
--- a/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
+++ b/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
@@ -177,7 +177,7 @@ class ProblemDataFull(problemDataAbstract):
self.control_bound_w = 1e3
self.control_reg_w = 1e0
self.state_reg_w = np.array([1e1] * 3
- + [1e-5] * 3
+ + [1e-1] * 3
+ [1e1] * 6
+ [1e1] * 3
+ [1e0] * 3
--
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