Fixed a bug in the footsteps interpolation

ami-iit · Jan 4, 2024 · 3510083 · 3510083
1 parent afbba1d
commit 3510083
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/hippopt/robot_planning/utilities/interpolators.py b/src/hippopt/robot_planning/utilities/interpolators.py
@@ -262,7 +262,7 @@ def append_swing_phase(
         next_phase = phases_copy[i + 1]
 
         stance_points = int(
-            np.ceil((phase.deactivation_time - phase.activation_time) / dt)
+            np.ceil((phase.deactivation_time - max(phase.activation_time, t0)) / dt)
         )
         stance_points = min(stance_points, remaining_points)