modified weight

python/quadruped_reactive_walking/WB_MPC/ProblemData.py

@@ -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