From 1a3fb37cb8f49ef1fb352d607a645cefcff8a903 Mon Sep 17 00:00:00 2001
From: paleziart <paleziart@laas.fr>
Date: Mon, 2 Aug 2021 12:18:33 +0200
Subject: [PATCH] Really switch to 1 kHz
---
src/config_solo12.yaml | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/config_solo12.yaml b/src/config_solo12.yaml
index 18ceff6b..2da0cce9 100644
--- a/src/config_solo12.yaml
+++ b/src/config_solo12.yaml
@@ -15,7 +15,7 @@ robot:
# General control parameters
q_init: [0.0, 0.7, -1.4, -0.0, 0.7, -1.4, 0.0, -0.7, 1.4, -0.0, -0.7, 1.4] # Initial articular positions
- dt_wbc: 0.002 # Time step of the whole body control
+ dt_wbc: 0.001 # Time step of the whole body control
N_gait: 20 # Number of rows in the gait matrix. Arbitrary value that should be set high enough
# so that there is always at least one empty line at the end of the gait matrix
dt_mpc: 0.02 # Time step of the model predictive control
--
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