towr
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ethz-adrl
A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
#### Problem: Currently there is no cost on the 6 splines defining the linear and angular acceleration of the base. There are constraints on the base (range-of-motion, dynamic), but if...
Ubuntu 18.04 + ROS melodic when I input "roslaunch towr_ros towr_ros.launch", a few seconds latter, ther will be an alarm: [towr_ros_app-5] process has died [pid 31514, exit code -11, cmd...
Hello, First of all, thanks for maintaining this nice repo! In the ```hopper_example.cc```, I have added this line to check derivatives. ``` solver->SetOption("derivative_test", "first-order") solver->SetOption("derivative_test_tol", 1e-3); ``` And I got...
Hi, great work! Sorry if this sounds too naive, I'm trying to implement this trajectory optimization formulation that you proposed in python using the CasADi framework which requires the problem...
Thanks for your great code! Now I have a question, how to increase leg lift height when swing phase, walking on the flat floor?
I'm interested in using the SoftConstraint. However, it is not apparent to me how I add it to an ifopt Problem since AddCostSet takes a CostTerm::Ptr, and this is inherits...
It might be a dummy question about CMake, I followed the instructions on the README ``` find_package(towr 1.2 REQUIRED) add_executable(main main.cpp) # Your custom variables, costs and constraints added to...
Hello I want to get the position and orientation data of the robot. Now, I could get these data of robot CoM by converting the walking bag data to csv....
Hi, I wanted to know if you have any thoughts on using ifopt and towr to solve convex MPC problems. For example, would you be able to use this architecture...
