ocs2
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leggedrobotics
Optimal Control for Switched Systems
All the "goal" are spelled as "gaol".
Hi, this is an amazing project. I want to deploy this project to our robot, and need to tune the matrix Q,R when mpc is running. However, I don't know...
Hi all, I find that OCS2 use global or world frame as generalized velocity's reference, like: https://github.com/leggedrobotics/ocs2/blob/86f92201fe077285f81c2b531272aadc41d84167/ocs2_pinocchio/ocs2_centroidal_model/src/CentroidalModelRbdConversions.cpp#L110 But, In https://github.com/stack-of-tasks/pinocchio/issues/1357, we need to use local or body frame as generalized...
Is the implementation of PISOC (Path integral stochastic optimal control) algorithm, presented in [this paper](https://journals.sagepub.com/doi/full/10.1177/02783649211047890), available in OCS2? - If yes, is there any ready-to-launch example that uses PISOC? -...
I'm curious on ocs2 msg details [here](https://github.com/leggedrobotics/ocs2/blob/fb5fe1a46e4aa3d201e1c6f709009aafa369daba/ocs2_robotic_examples/ocs2_legged_robot/config/mpc/task.info#L114-L120) ``` ;; Normalized Centroidal Momentum: [linear, angular] ;; (0,0) 0.0 ; vcom_x (1,0) 0.0 ; vcom_y (2,0) 0.0 ; vcom_z (3,0) 0.0 ;...
Hi ocs2 team. Thanks for open sourcing your repo. This is extremely helpful to the legged community! When reading the ocs2_centroidal_model, there are some parts that I cannot figure out...
Hi, I think JumpMap with input, i,e,. the one documented in SystemDynamicsBase ``` $ x^+ = G \delta x + H \delta u \f$ ``` is not yet implemented since...
This line: https://github.com/leggedrobotics/ocs2/blob/164c26b46bed5d24cd03d90588db8980d03a4951/ocs2_robotic_examples/ocs2_legged_robot_ros/src/gait/GaitReceiver.cpp#L56 I think the third parameter of gaitSchedulePtr_->insertModeSequenceTemplate() shold be (finalTime + timeHorizon) instead of (timeHorizon)? Is it right?
I try to install ocs2 in ubuntu20.04 but failed the last step `catkin build ocs2` Since the compilation process is very long, I am only showing the part where the...
**Describe the bug** In this cpp file, when converting between raisim::HeightMap and gridMap, the XSamples and YSamples are reversed. The corrected code is as follows: ``` grid_map_msgs::GridMapPtr RaisimHeightmapRosConverter::convertHeightmapToGridmap(const raisim::HeightMap& heightMap,...
