increased step_height in config

Author: lorenzo96-cmd

mpx/config/config_aliengo.py

@@ -20,7 +20,7 @@
 timer_t =  jnp.array([0.5, 0.0, 0.0, 0.5])  # Timer values for each leg galop jnp.array([0.25, 0.5, 0.75, 0.0]) crawl jnp.array([0.25, 0.75, 0.0, 0.5])
 duty_factor = 0.65 #0.65  # Duty factor for the gait
 step_freq = 1.35 #1.4   # Step frequency in Hz
-step_height = 0.14 # Step height in meters
+step_height = 0.2 # Step height in meters
 initial_height = 0.1  # Initial height of the robot's base in meters
 robot_height = 0.36  # Height of the robot's base in meters
 
@@ -69,4 +69,4 @@
 # dynamics = mpc_dyn_model.quadruped_wb_dynamics_learned_contact_model
 # dynamics = mpc_dyn_model.quadruped_wb_dynamics_explicit_contact
 max_torque = 35
-min_torque = -35
+min_torque = -35