Humanoid planning planners #12
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Renamed a parameter in dcc_complementarity_margin for better clarity
In multiple shooting solver, exploit the base name in case the initial condition name is not set
- Max angular momentum - Min com height - Min lateral distance
Added linear com velocity cost
…ion task Renamed the yaw alignment function for consistency
Added method to solve the problem
Initial filling of the main file for the walking planner
Also, making sure to call the superclass __post_init__
…ing mass regularization
…int on the maximum feet height difference
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Hi @rob-mau @diegoferigo, if you don't have comments, I would proceed in merging this |
rob-mau
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Feb 23, 2024
diegoferigo
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Feb 23, 2024
rob-mau
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Feb 23, 2024
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Mergin, thanks a lot @rob-mau @diegoferigo |
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This is the last PR after which all the modifications of the former
humanoidPlanningbranch.Hopefully, this should also be the last PR with such large modifications.
This PR introduces the
turnkey_planners, which are ready to use planners to perform locomotion tasks.I also updated the README with the current status of the project