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Fix small typos #44

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Merged
merged 1 commit into from
Feb 20, 2025
Merged

Fix small typos #44

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3 changes: 0 additions & 3 deletions bindings/expose-mpc.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,8 +29,6 @@ namespace simple_mpc
{
MPCSettings conf;

conf.ddpIteration = bp::extract<int>(settings["ddpIteration"]);

conf.support_force = bp::extract<double>(settings["support_force"]);

conf.TOL = bp::extract<double>(settings["TOL"]);
Expand All @@ -50,7 +48,6 @@ namespace simple_mpc
{
MPCSettings & conf = self.settings_;
bp::dict settings;
settings["ddpIteration"] = conf.ddpIteration;
settings["support_force"] = conf.support_force;
settings["TOL"] = conf.TOL;
settings["mu_init"] = conf.mu_init;
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1 change: 0 additions & 1 deletion examples/go2_fulldynamics.py
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Expand Up @@ -84,7 +84,6 @@
T_ss = 30
N_simu = int(0.01 / 0.001)
mpc_conf = dict(
ddpIteration=1,
support_force=-model_handler.getMass() * gravity[2],
TOL=1e-4,
mu_init=1e-8,
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18 changes: 10 additions & 8 deletions examples/go2_kinodynamics.py
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Expand Up @@ -31,7 +31,7 @@
fref = np.zeros(force_size)
fref[2] = -model_handler.getMass() / nk * gravity[2]
u0 = np.concatenate((fref, fref, fref, fref, np.zeros(model_handler.getModel().nv - 6)))

dt = 0.01

w_basepos = [0, 0, 100, 10, 10, 0]
w_legpos = [1, 1, 1]
Expand Down Expand Up @@ -60,7 +60,7 @@
w_centder = np.diag(np.concatenate((w_centder_lin, w_centder_ang)))

problem_conf = dict(
timestep=0.01,
timestep=dt,
w_x=w_x,
w_u=w_u,
w_cent=w_cent,
Expand All @@ -85,7 +85,6 @@
T_ss = 30

mpc_conf = dict(
ddpIteration=1,
support_force=-model_handler.getMass() * gravity[2],
TOL=1e-4,
mu_init=1e-8,
Expand All @@ -94,7 +93,7 @@
swing_apex=0.15,
T_fly=T_ss,
T_contact=T_ds,
timestep=0.01,
timestep=dt,
)

mpc = MPC(mpc_conf, dynproblem)
Expand Down Expand Up @@ -149,7 +148,7 @@
qp = IDSolver(id_conf, model_handler.getModel())

""" Interpolation """
interpolator = Interpolator(nq + nv, nv, nu, nf, 0.01)
interpolator = Interpolator(model_handler.getModel())

""" Initialize simulation"""
device = BulletRobot(
Expand Down Expand Up @@ -252,7 +251,10 @@

for j in range(N_simu):
# time.sleep(0.01)
interpolator.interpolate(j / float(N_simu), xss, uss, ddqs, forces)
delay = j / float(N_simu) * dt

acc_interp = interpolator.interpolateLinear(delay, dt, ddqs)
force_interp = interpolator.interpolateLinear(delay, dt, forces)

q_meas, v_meas = device.measureState()
x_measured = np.concatenate([q_meas, v_meas])
Expand All @@ -263,9 +265,9 @@
mpc.getDataHandler().getData(),
contact_states,
x_measured[nq:],
interpolator.a_interpolated,
acc_interp,
np.zeros(12),
interpolator.forces_interpolated,
force_interp,
mpc.getDataHandler().getData().M,
)

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1 change: 0 additions & 1 deletion examples/talos_centroidal.py
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Expand Up @@ -64,7 +64,6 @@
T_ss = 80

mpc_conf = dict(
ddpIteration=1,
support_force=-model_handler.getMass() * gravity[2],
TOL=1e-4,
mu_init=1e-8,
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1 change: 0 additions & 1 deletion examples/talos_fulldynamics.py
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Expand Up @@ -92,7 +92,6 @@
T_ds = 20
totalSteps = 1
mpc_conf = dict(
ddpIteration=1,
support_force=-model_handler.getMass() * gravity[2],
TOL=1e-4,
mu_init=1e-8,
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1 change: 0 additions & 1 deletion examples/talos_kinodynamics.py
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Original file line number Diff line number Diff line change
Expand Up @@ -100,7 +100,6 @@
T_ds = 20
T_ss = 80
mpc_conf = dict(
ddpIteration=1,
support_force=-model_handler.getMass() * gravity[2],
TOL=1e-4,
mu_init=1e-8,
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1 change: 0 additions & 1 deletion include/simple-mpc/mpc.hpp
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Expand Up @@ -37,7 +37,6 @@ namespace simple_mpc
double mu_init = 1e-8;
std::size_t max_iters = 1;
std::size_t num_threads = 2;
int ddpIteration = 1;

// Timings
int T_fly = 80;
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6 changes: 3 additions & 3 deletions tests/mpc.cpp
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Expand Up @@ -25,7 +25,7 @@ BOOST_AUTO_TEST_CASE(mpc_fulldynamics)
fdproblem.createProblem(model_handler.getReferenceState(), T, 6, -settings.gravity[2], true);

MPCSettings mpc_settings;
mpc_settings.ddpIteration = 1;
mpc_settings.max_iters = 1;

mpc_settings.support_force = -model_handler.getMass() * settings.gravity[2];

Expand Down Expand Up @@ -108,7 +108,7 @@ BOOST_AUTO_TEST_CASE(mpc_kinodynamics)
kinoproblem.createProblem(model_handler.getReferenceState(), T, 6, -settings.gravity[2], true);

MPCSettings mpc_settings;
mpc_settings.ddpIteration = 1;
mpc_settings.max_iters = 1;

mpc_settings.support_force = support_force;

Expand Down Expand Up @@ -186,7 +186,7 @@ BOOST_AUTO_TEST_CASE(mpc_centroidal)
centproblem.createProblem(data_handler.getCentroidalState(), T, 6, -settings.gravity[2], false);

MPCSettings mpc_settings;
mpc_settings.ddpIteration = 1;
mpc_settings.max_iters = 1;

mpc_settings.support_force = support_force;

Expand Down