From ca9355b212b1a60879c7926fa6b04d79418287d5 Mon Sep 17 00:00:00 2001
From: Ale <alessandroassirell98@gmail.com>
Date: Fri, 22 Jul 2022 15:11:29 +0200
Subject: [PATCH] add torque limit
---
python/quadruped_reactive_walking/Controller.py | 10 ++++------
1 file changed, 4 insertions(+), 6 deletions(-)
diff --git a/python/quadruped_reactive_walking/Controller.py b/python/quadruped_reactive_walking/Controller.py
index 0d03a2d6..ea4d5f43 100644
--- a/python/quadruped_reactive_walking/Controller.py
+++ b/python/quadruped_reactive_walking/Controller.py
@@ -161,8 +161,6 @@ class Controller:
Check if the command is fine and set the command to zero in case of error
"""
- # TODO change with the good values
-
if not self.error:
if (np.abs(m["qj_m"]) > self.q_security).any():
print("-- POSITION LIMIT ERROR --")
@@ -174,11 +172,11 @@ class Controller:
print(m["vj_m"])
print(np.abs(m["vj_m"]) > 100.0)
self.error = True
- """ elif (np.abs(self.wbcWrapper.tau_ff) > 8.0).any():
+ elif (np.abs(self.result.FF) > 8.0).any():
print("-- FEEDFORWARD TORQUES TOO HIGH ERROR --")
- print(self.wbcWrapper.tau_ff)
- print(np.abs(self.wbcWrapper.tau_ff) > 8.0)
- self.error = True """
+ print(self.result.FF)
+ print(np.abs(self.result.FF) > 8.0)
+ self.error = True
def clamp(self, num, min_value=None, max_value=None):
clamped = False
--
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