Flat plane with compensation forces

src/walk_parameters.yaml

@@ -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: false  # If True the ground is flat, otherwise it has bumps
+    use_flat_plane: true  # 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: false  # Enable the use of compensation forces in the QP problem
+    enable_comp_forces: true  # 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