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quadruped-reactive-walking
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Gepetto
quadruped-reactive-walking
Commits
33fad71b
Commit
33fad71b
authored
2 years ago
by
Pierre-Alexandre Leziart
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Flat plane with compensation forces
parent
10368153
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Pipeline
#21111
failed
2 years ago
Stage: test
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src/walk_parameters.yaml
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src/walk_parameters.yaml
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src/walk_parameters.yaml
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View file @
33fad71b
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@@ -7,7 +7,7 @@ robot:
LOGGING
:
false
# Enable/disable logging during the experiment
PLOTTING
:
true
# Enable/disable automatic plotting at the end of the experiment
envID
:
0
# Identifier of the environment to choose in which one the simulation will happen
use_flat_plane
:
fals
e
# If True the ground is flat, otherwise it has bumps
use_flat_plane
:
tru
e
# If True the ground is flat, otherwise it has bumps
predefined_vel
:
true
# If we are using a predefined reference velocity (True) or a joystick (False)
velID
:
10
# Identifier of the reference velocity profile to choose which one will be sent to the robot
N_SIMULATION
:
12000
# Number of simulated wbc time steps
...
...
@@ -77,7 +77,7 @@ robot:
Q2
:
10.0
# Weights for the "delta contact forces" optimization variables
Fz_max
:
35.0
# Maximum vertical contact force [N]
Fz_min
:
3.0
# Minimal vertical contact force [N]
enable_comp_forces
:
fals
e
# Enable the use of compensation forces in the QP problem
enable_comp_forces
:
tru
e
# Enable the use of compensation forces in the QP problem
# Parameters fro solo3D simulation
solo3D
:
false
# Activation of the 3D environment, and corresponding planner blocks
...
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