added baumgarte gains

python/quadruped_reactive_walking/WB_MPC/CrocoddylOCP.py

@@ -11,7 +11,7 @@ from time import time
 class OCP:
     def __init__(self, pd: ProblemData, footsteps, gait):
         self.pd = pd
-        self.max_iter = 100
+        self.max_iter = 1
 
         self.state = crocoddyl.StateMultibody(self.pd.model)
         self.initialized = False
@@ -169,7 +169,7 @@ class Node:
         self.contactModel = crocoddyl.ContactModelMultiple(self.state, self.nu)
         for i in supportFootIds:
             supportContactModel = crocoddyl.ContactModel3D(
-                self.state, i, np.array([0.0, 0.0, 0.0]), self.nu, np.array([0.0, 0.0])
+                self.state, i, np.array([0.0, 0.0, 0.0]), self.nu, np.array([0, 50])
             )
             self.contactModel.addContact(
                 self.pd.model.frames[i].name + "_contact", supportContactModel
@@ -232,7 +232,7 @@ class Node:
         self.contactModel = crocoddyl.ContactModelMultiple(self.state, self.nu)
         for i in supportFootIds:
             supportContactModel = crocoddyl.ContactModel3D(
-                self.state, i, np.array([0.0, 0.0, 0.0]), self.nu, np.array([0.0, 0.0])
+                self.state, i, np.array([0.0, 0.0, 0.0]), self.nu, np.array([0, 50])
             )
             self.dmodel.contacts.addContact(
                 self.pd.model.frames[i].name + "_contact", supportContactModel