working on rising foot

config/walk_parameters.yaml

@@ -11,7 +11,7 @@ robot:
     envID: 0  # Identifier of the environment to choose in which one the simulation will happen
     use_flat_plane: true  # If True the ground is flat, otherwise it has bumps
     predefined_vel: true  # If we are using a predefined reference velocity (True) or a joystick (False)
-    N_SIMULATION: 15000  # Number of simulated wbc time steps
+    N_SIMULATION: 10000  # Number of simulated wbc time steps
     enable_corba_viewer: false  # Enable/disable Corba Viewer
     enable_multiprocessing: false  # Enable/disable running the MPC in another process in parallel of the main loop
     perfect_estimator: true  # Enable/disable perfect estimator by using data directly from PyBullet
@@ -37,7 +37,8 @@ robot:
 
     # Parameters of Gait
     N_periods: 1
-    gait: [100, 1, 1, 1, 1]  # Initial gait matrix
+    gait: [20, 1, 1, 1, 1,
+           100, 1, 0, 1, 1]  # Initial gait matrix
 
     # Parameters of Joystick
     gp_alpha_vel: 0.003  # Coefficient of the low pass filter applied to gamepad velocity