Closed zst1406217 closed 4 months ago
Thanks for your interests and sorry for my late response.
If you want to change the stepping frequency, try scale up the gait segments in this file, e.g.
self.trotting = OffsetDurationGait(20,
np.array([0, 5, 5, 0], dtype=DTYPE)*2,
np.array([5, 5, 5, 5], dtype=DTYPE)*2, "Trotting")
Thanks a lot for your reply!
Hello! It is really a great work! When I run MPC controller, I find that the robot's step frequency is very high. I want to know how can I change it, thank you!