From ed954648793341f5fd1aed080eb1a3723cf9bda6 Mon Sep 17 00:00:00 2001
From: Ale <alessandroassirell98@gmail.com>
Date: Fri, 22 Jul 2022 15:07:01 +0200
Subject: [PATCH] 1KHz mpc (reduced model) Open loop Still target Only
impedance control
---
python/quadruped_reactive_walking/Controller.py | 10 +++++-----
1 file changed, 5 insertions(+), 5 deletions(-)
diff --git a/python/quadruped_reactive_walking/Controller.py b/python/quadruped_reactive_walking/Controller.py
index a9669d59..0d03a2d6 100644
--- a/python/quadruped_reactive_walking/Controller.py
+++ b/python/quadruped_reactive_walking/Controller.py
@@ -92,13 +92,13 @@ class Controller:
m = self.read_state(device)
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)
except ValueError:
self.error = True
--
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