MPC controller : Robot deviates from its trajectory

[Stephen Monnet]

Hello,

When I run the locomotion_controller_example.py, I observe that the robot is deviating from the commanded trajectory. It's not so bad when the robot is walking, but if I try to keep the robot in place (all the legs in stance mode) using the code commented in the same file, then the base of the robot is moving back and the robot falls. I didn't change anything in the code, just followed the setup instructions and run the example.

Do you have any idea where this problem comes from ?

Best,
Stephen

[xinhuiwang]

Hello,
Happy to see we are doing same work, though I haven't solved yet, but the trick is to change mpc weight in file torque_stance_leg_controller.py
Please let me know if you solved it.