added hyqreal2

Author: giulioturrisi

quadruped_pympc/config.py

@@ -41,12 +41,18 @@
                         [-0.021400468992761768, 0.0004641447134275615, 1.503217877350808]])
 
 
-elif (robot == 'hyqreal'):
+elif (robot == 'hyqreal1'):
     mass = 108.40
     inertia = np.array([[4.55031444e+00, 2.75249434e-03, -5.11957307e-01],
                         [2.75249434e-03, 2.02411774e+01, -7.38560592e-04],
                         [-5.11957307e-01, -7.38560592e-04, 2.14269772e+01]])
 
+elif (robot == 'hyqreal2'):
+    mass = 88.17
+    inertia = np.array([[4.55031444e+00, 2.75249434e-03, -5.11957307e-01],
+                        [2.75249434e-03, 2.02411774e+01, -7.38560592e-04],
+                        [-5.11957307e-01, -7.38560592e-04, 2.14269772e+01]])
+    
 elif (robot == 'mini_cheetah'):
     mass = 12.5
     inertia = np.array([[1.58460467e-01, 1.21660000e-04, -1.55444692e-02],

simulation/simulation.py

@@ -111,7 +111,6 @@ def run_simulation(
         heightmaps = None
 
     # Quadruped PyMPC controller initialization -------------------------------------------------------------
-    # mpc_frequency = qpympc_cfg.simulation_params["mpc_frequency"]
     quadrupedpympc_observables_names = (
         "ref_base_height",
         "ref_base_angles",
@@ -241,8 +240,6 @@ def run_simulation(
             action[env.legs_tau_idx.RL] = tau.RL
             action[env.legs_tau_idx.RR] = tau.RR
 
-            # action_noise = np.random.normal(0, 2, size=env.mjModel.nu)
-            # action += action_noise
 
             # Apply the action to the environment and evolve sim --------------------------------------------------
             state, reward, is_terminated, is_truncated, info = env.step(action=action)