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Muscodwalkin. Closes #72

Merged Rohan Budhiraja requested to merge proyan/crocoddyl:muscodwalkin into devel
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@@ -2,7 +2,7 @@ import pinocchio
import numpy as np
from collections import OrderedDict
from locomote import CubicHermiteSpline
from crocoddyl import m2a, a2m, EmptyClass
from crocoddyl import m2a, a2m
from crocoddyl import CostModelSum,CostModelState,CostModelControl,CostModelForce,\
CostModelFrameVelocity,CostModelFramePlacement,CostModelCoM,\
ImpulseModelMultiple,DifferentialActionModelFloatingInContact,IntegratedActionModelEuler,\
@@ -80,7 +80,7 @@ def createMultiphaseShootingProblem(rmodel, rdata, patch_name_map, cs, phi_c, sw
"""
#Define Cost weights
w = EmptyClass()
w = lambda t: 0
w.com = 1e2; w.state = 1e-1; w.control = 1e-3;
w.swing_patch = 1e4; w.forces = 1e-4;
w.swingv = 1e4
@@ -207,7 +207,7 @@ def createPhiFromContactSequence(rmodel, rdata, cs, patch_names):
N = len(t_traj)
#------Get values of state and control--------------
phi_c = EmptyClass()
phi_c = lambda t: 0
phi_c.f = OrderedDict(); phi_c.df = OrderedDict();
for patch in patch_names:
phi_c.f.update([[patch, np.zeros((N,6))]])
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