From cab29f8f694cf850c922241f92a10dcde0d4abae Mon Sep 17 00:00:00 2001
From: paleziart <paleziart@laas.fr>
Date: Mon, 23 Jan 2023 13:40:29 +0100
Subject: [PATCH] Without warm start, set all nodes to initial state
---
python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py | 2 ++
1 file changed, 2 insertions(+)
diff --git a/python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py b/python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py
index 966cb158..8465b018 100644
--- a/python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py
+++ b/python/quadruped_reactive_walking/WB_MPC/CasadiOCP.py
@@ -280,6 +280,8 @@ class OCP:
print("Got warm start")
except:
print("Can't load warm start")
+ for x in self.xs:
+ self.opti.set_initial(x, x0)
def get_results(self):
xs_sol = [self.opti.value(x) for x in self.xs]
--
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