small modification on the costant ACADOS_INFTY due to possible bug

Author: giulioturrisi

quadruped_pympc/controllers/gradient/collaborative/centroidal_nmpc_collaborative.py

@@ -2,7 +2,8 @@
 
 # Authors: Giulio Turrisi - 
 
-from acados_template import AcadosOcp, AcadosOcpSolver, ACADOS_INFTY
+from acados_template import AcadosOcp, AcadosOcpSolver
+ACADOS_INFTY = 1000
 from .centroidal_model_collaborative import Centroidal_Model_Collaborative
 import numpy as np
 import scipy.linalg

quadruped_pympc/controllers/gradient/input_rates/centroidal_nmpc_input_rates.py

@@ -9,7 +9,8 @@
 import copy
 from typing import Tuple
 # TODO: Check acados installation and trow error + instructions if needed ->  pip install quadruped_pympc[acados]
-from acados_template import AcadosOcp, AcadosOcpSolver, ACADOS_INFTY
+from acados_template import AcadosOcp, AcadosOcpSolver
+ACADOS_INFTY = ACADOS_INFTY = 1000
 from quadruped_pympc import config
 from .centroidal_model_input_rates import Centroidal_Model_InputRates
 

quadruped_pympc/controllers/gradient/lyapunov/centroidal_nmpc_lyapunov.py

@@ -3,7 +3,8 @@
 
 # Authors: Giulio Turrisi -
 
-from acados_template import AcadosOcp, AcadosOcpSolver, ACADOS_INFTY
+from acados_template import AcadosOcp, AcadosOcpSolver
+ACADOS_INFTY = 1000
 import numpy as np
 import scipy.linalg
 import casadi as cs

quadruped_pympc/controllers/gradient/nominal/centroidal_nmpc_gait_adaptive.py

@@ -9,7 +9,8 @@
 import copy
 
 import casadi as cs
-from acados_template import AcadosOcp, AcadosOcpBatchSolver, ACADOS_INFTY
+from acados_template import AcadosOcp, AcadosOcpBatchSolver
+ACADOS_INFTY = 1000
 
 from quadruped_pympc import config
 from .centroidal_model_nominal import Centroidal_Model_Nominal

quadruped_pympc/controllers/gradient/nominal/centroidal_nmpc_nominal.py

@@ -3,7 +3,8 @@
 
 # Authors: Giulio Turrisi - 
 
-from acados_template import AcadosOcp, AcadosOcpSolver, ACADOS_INFTY
+from acados_template import AcadosOcp, AcadosOcpSolver
+ACADOS_INFTY = 1000
 from .centroidal_model_nominal import Centroidal_Model_Nominal
 import numpy as np
 import scipy.linalg