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leggedrobotics
Optimal Control for Switched Systems
I find that this file #include is missing but it is still use in ocs2_ocs2 package.
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...
I add LoopshapingRobotInterface and LoopshapingReferenceManager and LoopshapingSynchronizedModule in LeggedRobotSqpMpcNode,but Loopshaping make a mistake solution of mpc.
I'm sorry to post an issue here. It would be more convenient if the discussion was opened. - In [FactoryFunctions.cpp](https://github.com/leggedrobotics/ocs2/blob/main/ocs2_pinocchio/ocs2_centroidal_model/src/FactoryFunctions.cpp), I can find that ocs2 build the floating base robot...
The SLQ in OCS2 12.0 seems to have numerical stability issue when the mode schedule is not empty, for example the mode schedule shown below (`ds` means double support mode):...
Hi, Could someone please suggest me? If I would like to use point cloud for 3d environment constraints for legged robot. how should I do please?
**Describe the bug** The function `template bool almost_le(T1&& x, T2&& y) { return x < y || almost_eq(x, y); } ` in file `/ocs2_core/include/ocs2_core/misc/Numerics.h` with line 105 to 108 seems...
Hi ocs2 team, Really appreciate for the efforts and work in creating and sharing this valuable repo with the robotics community! It has been a great resource for many developers...
Hello, here is the terminal catkin build error. https://pastebin.com/Nus2c0fs the catkin_build : catkin build ocs2_legged_robot_ros ocs2_self_collision_visualization system : i86 UP extreme i7 Don't know to do. tested many times, and...
