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Commit 458ea1e8 authored by Pierre-Alexandre Leziart's avatar Pierre-Alexandre Leziart
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dt_wbc is directly DT

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scripts/main_solo12_control.py
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...@@ -77,7 +77,7 @@ def control_loop(name_interface): ...@@ -77,7 +77,7 @@ def control_loop(name_interface):
envID = 0 # Identifier of the environment to choose in which one the simulation will happen envID = 0 # Identifier of the environment to choose in which one the simulation will happen
velID = 1 # Identifier of the reference velocity profile to choose which one will be sent to the robot velID = 1 # Identifier of the reference velocity profile to choose which one will be sent to the robot
dt_wbc = 0.0020 # Time step of the whole body control dt_wbc = DT # Time step of the whole body control
dt_mpc = 0.02 # Time step of the model predictive control dt_mpc = 0.02 # Time step of the model predictive control
k_mpc = int(dt_mpc / dt_wbc) k_mpc = int(dt_mpc / dt_wbc)
t = 0.0 # Time t = 0.0 # Time
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