From 6e459cf13329b2965a95f25076bf276af8e24cc6 Mon Sep 17 00:00:00 2001
From: Rohan Budhiraja <proyan@users.noreply.github.com>
Date: Tue, 19 Feb 2019 00:12:26 +0100
Subject: [PATCH] [locomotion][centroidal_utils] fix bug where the timestep of
dmodel is not being set
---
locomotion/centroidal_utils.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/locomotion/centroidal_utils.py b/locomotion/centroidal_utils.py
index fd6cded2..dee8d16e 100644
--- a/locomotion/centroidal_utils.py
+++ b/locomotion/centroidal_utils.py
@@ -190,7 +190,7 @@ def createMultiphaseShootingProblem(rmodel, rdata, patch_name_map, cs, phi_c, ee
dmodel = DifferentialActionModelFloatingInContact(rmodel, actuationff,
contact_model, cost_model)
- imodel = IntegratedActionModelEuler(dmodel)
+ imodel = IntegratedActionModelEuler(dmodel, timeStep=dt)
problem_models.append(imodel)
#for the last model of the phase, add velocity cost on swing limbs.
--
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