Increased ZMP counter since the frequency is higher

GiulioRomualdi · GiulioRomualdi · commit 6d6132fe1d1e · 2022-10-05T12:39:41.000+02:00
diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini
@@ -20,7 +20,7 @@ max_initial_com_vel                 0.15
 constant_ZMP_tolerance              0.000001
 
 # Consecutive times in which the ZMP remains constant. If this limit is reached, the module stops. Use a negative value to disable.
-constant_ZMP_counter                25
+constant_ZMP_counter                125
 
 # Minimum force to consider the ZMP valid.
 minimum_normal_force_ZMP            1.0
diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_with_joypad.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_with_joypad.ini
@@ -20,7 +20,7 @@ max_initial_com_vel                 0.15
 constant_ZMP_tolerance              0.00001
 
 # Consecutive times in which the ZMP remains constant. If this limit is reached, the module stops. Use a negative value to disable.
-constant_ZMP_counter                25
+constant_ZMP_counter                125
 
 # Minimum force to consider the ZMP valid.
 minimum_normal_force_ZMP            1.0
