Some further tuning for jumping

ami-iit · Jul 5, 2024 · 22f07f2 · 22f07f2
1 parent 29ade0e
commit 22f07f2
Showing 1 changed file with 15 additions and 15 deletions.
diff --git a/src/hippopt/turnkey_planners/humanoid_kinodynamic/main_single_jump_on_flat_ground.py b/src/hippopt/turnkey_planners/humanoid_kinodynamic/main_single_jump_on_flat_ground.py
@@ -70,13 +70,13 @@ def get_planner_settings(terrain: hp_rp.TerrainDescriptor) -> walking_settings.S
         y_length=0.1,
         top_left_point_position=np.array([0.116, 0.05, 0.0]),
     )
-    settings.planar_dcc_height_multiplier = 8.0
+    settings.planar_dcc_height_multiplier = 7.0
     settings.dcc_gain = 150.0
     settings.dcc_epsilon = 1.0
-    settings.static_friction = 0.9
+    settings.static_friction = 0.3
     settings.maximum_velocity_control = [2.0, 2.0, 10.0]
     settings.maximum_force_derivative = [400.0, 400.0, 1000.0]
-    settings.maximum_angular_momentum = 10.0
+    settings.maximum_angular_momentum = 5.0
     settings.minimum_com_height = 0.1
     settings.minimum_feet_lateral_distance = 0.1
     settings.maximum_feet_relative_height = 0.005
@@ -87,8 +87,8 @@ def get_planner_settings(terrain: hp_rp.TerrainDescriptor) -> walking_settings.S
         if joint.hasPosLimits():
             settings.maximum_joint_positions[i] = joint.getMaxPosLimit(i)
             settings.minimum_joint_positions[i] = joint.getMinPosLimit(i)
-    settings.maximum_joint_velocities = np.ones(number_of_joints) * 20.0
-    settings.minimum_joint_velocities = np.ones(number_of_joints) * -20.0
+    settings.maximum_joint_velocities = np.ones(number_of_joints) * 7.5
+    settings.minimum_joint_velocities = np.ones(number_of_joints) * -7.5
     settings.joint_regularization_cost_weights = np.ones(number_of_joints)
     settings.joint_regularization_cost_weights[:3] = 0.1  # torso
     settings.joint_regularization_cost_weights[3:11] = 10.0  # arms
@@ -560,16 +560,16 @@ def get_references(
 
     guess = first_part_guess + second_part_guess + third_part_guess + fourth_part_guess
 
-    # print("Press [Enter] to visualize the initial guess.")
-    # input()
-    #
-    # visualizer.visualize(
-    #     states=guess,
-    #     timestep_s=planner_settings.time_step,
-    #     time_multiplier=1.0,
-    #     save=True,
-    #     file_name_stem="humanoid_single_jump_flat_guess",
-    # )
+    print("Press [Enter] to visualize the initial guess.")
+    input()
+
+    visualizer.visualize(
+        states=guess,
+        timestep_s=planner_settings.time_step,
+        time_multiplier=1.0,
+        save=True,
+        file_name_stem="humanoid_single_jump_flat_guess",
+    )
 
     print("Starting the planner...")