From 74012a3b899f5811b38244555477998cbc01cf66 Mon Sep 17 00:00:00 2001
From: odri <odri@furano.laas.fr>
Date: Wed, 25 Aug 2021 16:25:05 +0200
Subject: [PATCH] Forgot line that set value to Ngait
---
scripts/utils_mpc.py | 1 +
1 file changed, 1 insertion(+)
diff --git a/scripts/utils_mpc.py b/scripts/utils_mpc.py
index f295b8ac..a7cb912c 100644
--- a/scripts/utils_mpc.py
+++ b/scripts/utils_mpc.py
@@ -71,6 +71,7 @@ def init_robot(q_init, params):
shoulders_init[:, i] = solo.data.oMf[indexes[i]].translation
# Saving data
+ params.N_gait = int(5 + params.T_mpc / params.dt_mpc)
params.h_ref = h_init
params.mass = solo.data.mass[0] # Mass of the whole urdf model (also = to Ycrb[1].mass)
params.I_mat = solo.data.Ycrb[1].inertia.ravel().tolist() # Composite rigid body inertia in q_init position
--
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