Attempting to revive the cartpole iLQR demo

keenon · Dec 2, 2024 · 0d34899 · 0d34899
1 parent 73619fb
commit 0d34899
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Showing 2 changed files with 7 additions and 3 deletions.
diff --git a/data/skel/cartpole.skel b/data/skel/cartpole.skel
@@ -4,7 +4,7 @@
         <physics>
             <time_step>0.01</time_step>
             <gravity>0 -9.81 0</gravity>
-            <collision_detector>bullet</collision_detector>
+            <collision_detector>dart</collision_detector>
         </physics>
 
         <skeleton name="pendulum">

diff --git a/unittests/comprehensive/test_iLQRCartpole.cpp b/unittests/comprehensive/test_iLQRCartpole.cpp
@@ -293,6 +293,10 @@ TEST(REALTIME, CARTPOLE_MPC)
   finalStateWeight(1) = 50.0;
   finalStateWeight(2) = 50.0;
   finalStateWeight(3) = 50.0;
+  runningStateWeight(0) = 0.1;
+  runningStateWeight(1) = 0.5;
+  runningStateWeight(2) = 0.01;
+  runningStateWeight(3) = 0.01;
   runningActionWeight(0) = 0.01;
 
   std::shared_ptr<TargetReachingCost> costFn
@@ -309,8 +313,8 @@ TEST(REALTIME, CARTPOLE_MPC)
 
   mpcLocal.setCostFn(costFn);
   mpcLocal.setSilent(true);
-  mpcLocal.setMaxIterations(5);
-  mpcLocal.setEnableLineSearch(false);
+  mpcLocal.setMaxIterations(20);
+  mpcLocal.setEnableLineSearch(true);
   mpcLocal.setEnableOptimizationGuards(true);
   mpcLocal.setPredictUsingFeedback(false);
   mpcLocal.setPatience(3);