From 32b97c6743c42aec29bd0933584b4c04f43bbcf9 Mon Sep 17 00:00:00 2001
From: paleziart <paleziart@laas.fr>
Date: Wed, 5 May 2021 18:15:20 +0200
Subject: [PATCH] Switch back to standard values for mpc gait
---
src/config_solo12.yaml | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/config_solo12.yaml b/src/config_solo12.yaml
index 6e160e1e..bfad36d2 100644
--- a/src/config_solo12.yaml
+++ b/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
--
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