Comment Target

python/quadruped_reactive_walking/WB_MPC/Target.py

@@ -5,10 +5,22 @@ import pinocchio as pin
 
 
 class Target:
+    """Targets of the whole-body tasks
+
+    Args:
+        params (Params): object storing parameters about the control problem as a whole
+
+    Attributes:
+        params (Params): object storing parameters about the control problem as a whole
+        dt_wbc (float): time step of the OCP
+        linear_velocity (array): velocity target for the base linear velocity tracking task
+        angular_velocity (array): velocity target for the base angular velocity tracking task
+        velocity_task (list of arrays): targets for linear and angular velocities
+    """
+
     def __init__(self, params):
         self.params = params
         self.dt_wbc = params.dt_wbc
-        self.k_per_step = 160
 
         self.linear_velocity = np.array([10, 0, 0])
         self.angular_velocity = np.array([0, 0, 0])