Skip to content
Snippets Groups Projects
Commit 2d5bde59 authored by Pierre-Alexandre Leziart's avatar Pierre-Alexandre Leziart
Browse files

Set minimal contact force to 1N in linear and nonlinear croco

parent d066f80f
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
python/quadruped_reactive_walking/Crocoddyl/MPC_crocoddyl.py
+ 1
− 1
View file @ 2d5bde59
...@@ -57,7 +57,7 @@ class MPC_crocoddyl: ...@@ -57,7 +57,7 @@ class MPC_crocoddyl:
self.frictionWeights = 1.0 # Friction cone weight self.frictionWeights = 1.0 # Friction cone weight
self.min_fz = 0.2 # Minimum normal force (N) self.min_fz = 1 # Minimum normal force (N)
self.max_fz = 25 # Maximum normal force (N) self.max_fz = 25 # Maximum normal force (N)
self.shoulderWeights = 0.0 # Weight on the shoulder term : self.shoulderWeights = 0.0 # Weight on the shoulder term :
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment