Ioannis Dadiotis

Efficiency with larger legged systems

4

Dear ocs2 development team, First and foremost congratulations for the great work and thank you for sharing this with the community. I am exploring ocs2 for our quadruped bi-manual Centauro...

Hi @awinkler , Firstly, thanks for sharing your work! The question applies for robots with more than one legs. I was wondering if there is an option for restricting the...

In the legged robot example the default tracking cost penalizes deviation of the state and input from desired ones. The latter are continuously updated by the `legged_robot_mpc_target` topic. However in...

Useless subscription to /legged_robot_mode_schedule

1

When running the `legged_robot_ddp.launch` example there are two similar topics which create a bit of confusion, the `/legged_robot_mode_schedule` and `/legged_robot_mpc_mode_schedule`. The first one has only a single subscriber, the mpc...

Horizontal planes not detected

5

Hi, I have just installed and built the packages in my catkin workspace. Then I am trying to run the anymal example with my own robot and pointcloud as input,...

Hi, I was wondering if it is possible to use the plane segmentation node for extracting planes of whichever orientation? It seems that currently the library is focused on planes...

This is a suggestion for enhancing the ROS API of Cartesian Interface. @alaurenzi I came across a situation where I need to change the `indices` of a cartesian task on...