Enable only cost on velocity tracking

python/quadruped_reactive_walking/WB_MPC/ProblemData.py

@@ -133,17 +133,17 @@ class ProblemData(problemDataAbstract):
         self.mu = 0.7
 
         # Cost function weights
-        self.base_velocity_tracking_w = 1e2 * 0
+        self.base_velocity_tracking_w = 1e2
         self.ground_collision_w = 1e3 * 0
 
         # Constraints weights
-        self.friction_cone_w = 1e4
-        self.impact_altitude_w = 1e3
-        self.impact_velocity_w = 1e3
+        self.friction_cone_w = 1e4 * 0
+        self.impact_altitude_w = 1e3 * 0
+        self.impact_velocity_w = 1e3 * 0
         self.control_bound_w = 1e3 * 0
 
         # Regularization weights
-        self.control_reg_w = 1e0
+        self.control_reg_w = 1e0 * 0
         self.state_reg_w = np.array(
             [0] * 3
             + [1e1] * 3
@@ -152,9 +152,9 @@ class ProblemData(problemDataAbstract):
             + [1e1] * 3
             + [1e1] * 3
             + [1e1] * 6
-        )
-        self.terminal_velocity_w = np.array([0] * self.nv + [1e4] * self.nv)
-        self.force_reg_w = 1e0
+        ) * 0
+        self.terminal_velocity_w = np.array([0] * self.nv + [1e4] * self.nv) * 0
+        self.force_reg_w = 1e0 * 0
 
         # Reference values
         self.xref = self.x0