Whole body fixed base

config/walk_parameters.yaml

@@ -6,14 +6,14 @@ robot:
     LOGGING: true  # Enable/disable logging during the experiment
     PLOTTING: true  # Enable/disable automatic plotting at the end of the experiment
     DEMONSTRATION: false  # Enable/disable demonstration functionalities
-    SIMULATION: false  # Enable/disable PyBullet simulation or running on real robot
-    enable_pyb_GUI: true  # Enable/disable PyBullet GUI
+    SIMULATION: true  # Enable/disable PyBullet simulation or running on real robot
+    enable_pyb_GUI: false  # Enable/disable PyBullet GUI
     envID: 0  # Identifier of the environment to choose in which one the simulation will happen
     use_flat_plane: true  # If True the ground is flat, otherwise it has bumps
     predefined_vel: true  # If we are using a predefined reference velocity (True) or a joystick (False)
-    N_SIMULATION: 15000  # Number of simulated wbc time steps
+    N_SIMULATION: 5000  # Number of simulated wbc time steps
     enable_corba_viewer: false  # Enable/disable Corba Viewer
-    enable_multiprocessing: true  # Enable/disable running the MPC in another process in parallel of the main loop
+    enable_multiprocessing: false  # Enable/disable running the MPC in another process in parallel of the main loop
     perfect_estimator: true  # Enable/disable perfect estimator by using data directly from PyBullet
 
     # General control parameters
@@ -26,7 +26,7 @@ robot:
     type_MPC: 3  # Which MPC solver you want to use: 0 for OSQP MPC, 1, 2, 3 for Crocoddyl MPCs
     save_guess: false # true to interpolate the impedance quantities between nodes of the MPC
     movement: "circle" # name of the movement to perform
-    interpolate_mpc: true # true to interpolate the impedance quantities between nodes of the MPC
+    interpolate_mpc: false # true to interpolate the impedance quantities between nodes of the MPC
     interpolation_type: 3 # 0,1,2,3 decide which kind of interpolation is used
     # Kp_main: [0.0, 0.0, 0.0]  # Proportional gains for the PD+
     # Kd_main: [0., 0., 0.]  # Derivative gains for the PD+