backup before week end

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")

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):