Switch back to standard values for mpc gait

src/config_solo12.yaml

@@ -4,13 +4,13 @@ robot:
     LOGGING: false  # Enable/disable logging during the experiment
     PLOTTING: true  # Enable/disable automatic plotting at the end of the experiment
     dt_wbc: 0.002  # Time step of the whole body control
-    N_gait: 100  # Number of rows in the gait matrix. Arbitrary value that should be set high enough
+    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
     envID: 0  # Identifier of the environment to choose in which one the simulation will happen
     velID: 2  # Identifier of the reference velocity profile to choose which one will be sent to the robot
     dt_mpc: 0.02  # Time step of the model predictive control
-    T_gait: 0.64  # Duration of one gait period
-    T_mpc: 0.64   # Duration of the prediction horizon
+    T_gait: 0.32  # Duration of one gait period
+    T_mpc: 0.32  # Duration of the prediction horizon
     N_SIMULATION: 3000  # Number of simulated wbc time steps
     type_MPC: true  # Which MPC solver you want to use: True to have PA's MPC, to False to have Thomas's MPC
     use_flat_plane: true  # If True the ground is flat, otherwise it has bumps