towr

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Whole-body dynamics in gait optimization

5

**WBD** I wanted to expand the optimizer to include whole-body dynamics, instead of only centroidal dynamics. The advantages are clear: the output is directly in joint torque which can be...

RobertoRoos

whole body controller with hierarchical optimization

1

Thanks for your great code! I finished the motion plan using towr and tracked the motion with balance controller. But I want to track them using WBC controller, is the...

EricWang1hitsz

Last phase duration is not an optimization variable

1

Hi Alex! Could you please clarify the comment below that you have left out in the source? https://github.com/ethz-adrl/towr/blob/f7387379d5c0a73289a9107e995b170951d8cd5a/towr/include/towr/constraints/total_duration_constraint.h#L46-L48 If the total time is a constraint and all phase durations (except...

ferrolho

Problem when installing towr & ifopt manually with pure CMake (no ros)

1

Ubuntu 14.04 IPOPT v. 3.12.8 Both the IFOPT test passes as well as the ifopt_ipopt binary test (However, there is not Output to the tests) In addition, all of the...

awinkler

Format using google style

2

Similar to https://github.com/ethz-adrl/ifopt/pull/90, this PR is applying the actual Google Style to all cpp files as mentioned in the CONTRIBUTING.md file. For reference I used the following clang-format arguments: ```...

costashatz

fan-ziqi