From e13cf10e6b9675bff36e7bfd66f5ba264653cd33 Mon Sep 17 00:00:00 2001
From: Ale <alessandroassirell98@gmail.com>
Date: Wed, 10 Aug 2022 09:47:42 +0200
Subject: [PATCH] added baumgarte gains
---
python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py b/python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py
index feda43db..169438f8 100644
--- a/python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py
+++ b/python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py
@@ -11,7 +11,7 @@ from time import time
class OCP:
def __init__(self, pd: ProblemData, footsteps, gait):
self.pd = pd
- self.max_iter = 100
+ self.max_iter = 1
self.state = crocoddyl.StateMultibody(self.pd.model)
self.initialized = False
@@ -169,7 +169,7 @@ class Node:
self.contactModel = crocoddyl.ContactModelMultiple(self.state, self.nu)
for i in supportFootIds:
supportContactModel = crocoddyl.ContactModel3D(
- self.state, i, np.array([0.0, 0.0, 0.0]), self.nu, np.array([0.0, 0.0])
+ self.state, i, np.array([0.0, 0.0, 0.0]), self.nu, np.array([0, 50])
)
self.contactModel.addContact(
self.pd.model.frames[i].name + "_contact", supportContactModel
@@ -232,7 +232,7 @@ class Node:
self.contactModel = crocoddyl.ContactModelMultiple(self.state, self.nu)
for i in supportFootIds:
supportContactModel = crocoddyl.ContactModel3D(
- self.state, i, np.array([0.0, 0.0, 0.0]), self.nu, np.array([0.0, 0.0])
+ self.state, i, np.array([0.0, 0.0, 0.0]), self.nu, np.array([0, 50])
)
self.dmodel.contacts.addContact(
self.pd.model.frames[i].name + "_contact", supportContactModel
--
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