From b4d78365781d2ccdf9e961e10e2dbd7075be8b14 Mon Sep 17 00:00:00 2001
From: Ale <alessandroassirell98@gmail.com>
Date: Fri, 29 Jul 2022 17:21:23 +0200
Subject: [PATCH] backup before week end
---
python/quadruped_reactive_walking/WB_MPC/ProblemData.py | 2 +-
python/quadruped_reactive_walking/WB_MPC/Target.py | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/python/quadruped_reactive_walking/WB_MPC/ProblemData.py b/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
index 96820d3d..8aff5993 100644
--- a/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
+++ b/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
@@ -8,7 +8,7 @@ class problemDataAbstract:
self.dt_sim = param.dt_wbc
self.r1 = int(self.dt / self.dt_sim)
self.init_steps = 0
- self.target_steps = 20
+ self.target_steps = 50
self.T = self.init_steps + self.target_steps -1
self.robot = erd.load("solo12")
diff --git a/python/quadruped_reactive_walking/WB_MPC/Target.py b/python/quadruped_reactive_walking/WB_MPC/Target.py
index 984711db..36fef7e0 100644
--- a/python/quadruped_reactive_walking/WB_MPC/Target.py
+++ b/python/quadruped_reactive_walking/WB_MPC/Target.py
@@ -23,7 +23,7 @@ class Target:
self.FR_foot0 = pd.rdata.oMf[pd.rfFootId].translation.copy()
self.A = np.array([0, 0.03, 0.03])
self.offset = np.array([0.05, -0.02, 0.06])
- self.freq = np.array([0, 0.5 * 0, 0.5 * 0])
+ self.freq = np.array([0, 0.5 , 0.5 ])
self.phase = np.array([0, np.pi / 2, 0])
def patternToId(self, gait):
--
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