1KHz mpc (reduced model)

Open loop
EndEff reach point
Only impedance

python/quadruped_reactive_walking/Controller.py

@@ -96,13 +96,13 @@ class Controller:
 
         self.point_target = self.target.evaluate_in_t(1)[self.pd.rfFootId]
         try:
-            self.mpc.solve(self.k, m["x_m"], self.guess)  # Closed loop mpc
+            #self.mpc.solve(self.k, m["x_m"], self.guess)  # Closed loop mpc
 
             ## Trajectory tracking
-            #if self.initialized:
-            #   self.mpc.solve(self.k, self.mpc_result.x[1], self.guess)
-            #else:
-            #   self.mpc.solve(self.k, m["x_m"], self.guess)
+            if self.initialized:
+               self.mpc.solve(self.k, self.mpc_result.x[1], self.guess)
+            else:
+               self.mpc.solve(self.k, m["x_m"], self.guess)
 
              ### ONLY IF YOU WANT TO STORE THE FIRST SOLUTION TO WARMSTART THE INITIAL Problem ###
             #if not self.initialized: