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Commit 33fad71b authored by Pierre-Alexandre Leziart's avatar Pierre-Alexandre Leziart
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Flat plane with compensation forces

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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: 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
......
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