towr
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ethz-adrl
A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
While a foot is swinging, it is typically represented by two/three polynomials.  Two types of constraints are active in this phase: #### [terrain_constraint](https://github.com/ethz-adrl/towr/blob/master/towr/include/towr/constraints/terrain_constraint.h) * enforces that the position of...
Hello, I believe I found a bug in HeightMap::GetDerivativeOfNormalizedBasisWrt(). The code below ``` Vector3d dn_norm_wrt_n = GetDerivativeOfNormalizedVectorWrtNonNormalizedIndex(v, dim); return dn_norm_wrt_n.cwiseProduct(dv_wrt_dim); ``` should be replaced by ``` Eigen::Matrix3d dn_norm_wrt_n; dn_norm_wrt_n
Thanks for writing such a nice piece of software! There seems to be a mistake in how the derivative of the normal/tangent is computed with respect to the x or...
Hello! Thanks for the tool. We have encountered with the following error when use with **Gait Optimization flag enabled** for **HYQ robot** towr_ros_app: /home/robotic01/catkin_ws/src/towr/src/phase_durations.cc:86: virtual void towr::PhaseDurations::SetVariables(const VectorXd&): Assertion `durations_.back()>0'...
Related to https://github.com/ethz-adrl/ifopt/issues/66 it would also be nice to have a ROS 2 release. For my purposes right now, it'd be sufficient to have just `towr` released (which shouldn't take...
Hi, I was trying to calculate the inverse dynamic of a robot in static stance position. Unfortunately, I observed that the generate **ee_force** splines have wild oscillations (value at time...
First of all I'd like to thank you for open sourcing such an amazing library! I was wondering if in the near future, towr will be supported in ROS noetic...
hello, thank you for sharing your excellent work. And if i want to make some action for quadruped robot , such as backfip, how did it work ?
http://docs.ros.org/en/api/towr/html/group__Parameters.html This link is broken, kindly update with the new link.
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...
