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Commit 30c58b21 authored by Ale's avatar Ale
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modified weight

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python/quadruped_reactive_walking/WB_MPC/ProblemData.py
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......@@ -94,7 +94,7 @@ class ProblemData(problemDataAbstract):
# Cost function weights
# Cost function weights
ref_foot_flying_altitude = 7e-2
self.fly_high_slope = 100 #3 / ref_foot_flying_altitude
self.fly_high_slope = 3 / ref_foot_flying_altitude
self.mu = 0.7
self.base_velocity_tracking_w = 1e2
......
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