Enable friction cone and control bounds

python/quadruped_reactive_walking/WB_MPC/ProblemData.py

@@ -137,10 +137,10 @@ class ProblemData(problemDataAbstract):
         self.ground_collision_w = 1e3 * 0
 
         # Constraints weights
-        self.friction_cone_w = 1e4 * 0
+        self.friction_cone_w = 1e3
         self.impact_altitude_w = 1e3 * 0
         self.impact_velocity_w = 1e3 * 0
-        self.control_bound_w = 1e3 * 0
+        self.control_bound_w = 1e3
 
         # Regularization weights
         self.control_reg_w = 1e0 * 0