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Commit 6e459cf1 authored by Rohan Budhiraja's avatar Rohan Budhiraja
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[locomotion][centroidal_utils] fix bug where the timestep of dmodel is not being set

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locomotion/centroidal_utils.py
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...@@ -190,7 +190,7 @@ def createMultiphaseShootingProblem(rmodel, rdata, patch_name_map, cs, phi_c, ee ...@@ -190,7 +190,7 @@ def createMultiphaseShootingProblem(rmodel, rdata, patch_name_map, cs, phi_c, ee
dmodel = DifferentialActionModelFloatingInContact(rmodel, actuationff, dmodel = DifferentialActionModelFloatingInContact(rmodel, actuationff,
contact_model, cost_model) contact_model, cost_model)
imodel = IntegratedActionModelEuler(dmodel) imodel = IntegratedActionModelEuler(dmodel, timeStep=dt)
problem_models.append(imodel) problem_models.append(imodel)
#for the last model of the phase, add velocity cost on swing limbs. #for the last model of the phase, add velocity cost on swing limbs.
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