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leggedrobotics
Optimal Control for Switched Systems
I am learning to use the OCS2 library and have a question about constructing an optimal control problem by treating contact force as an input variable. In fact, most physics...
I tried to set up mpcnet to mobile manipulator(kinova j2n7). And I followed steps of https://leggedrobotics.github.io/ocs2/mpcnet.html. Referring to the mpcnet programs of legged_robot and ballbot, I finished the main documents:...
**Describe the bug** I have identified an issue within the computeRbdTorqueFromCentroidalModelPD function, where the Proportional-Derivative (PD) feedback calculation appears to be incorrectly implemented. ```bash vector_t CentroidalModelRbdConversions::computeRbdTorqueFromCentroidalModelPD(const vector_t& desiredState, const vector_t&...
**Describe the bug** Run Build Command(s):/usr/bin/make cmTC_53c66/fast && /usr/bin/make -f CMakeFiles/cmTC_53c66.dir/build.make CMakeFiles/cmTC_53c66.dir/build make[1]: Entering directory '/opt/ocs2/ocs2_oc/build/CMakeFiles/CMakeTmp' Building C object CMakeFiles/cmTC_53c66.dir/CheckFunctionExists.c.o /usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create -o CMakeFiles/cmTC_53c66.dir/CheckFunctionExists.c.o -c /usr/share/cmake-3.16/Modules/CheckFunctionExists.c Linking C executable cmTC_53c66...
**Question** Hello! I am surprised by the convenience of ocs2 on single-arm robot. However, when I want to deploy ocs2 on dual-arm robot. I have no idea where to go....
Hello, I was testing OCS2 and had problems with hard equality and inequality constraints. With default SQP and IPM settings, both solvers ignore the hard input inequality constraints. When testing...
**Is your feature request related to a problem? Please describe.** A clear and concise description of what the problem is. Ex. I'm always frustrated when [...] **Describe the solution you'd...
Hello, I'm wondering if closed chain simulation supported in OCS2?
The xy data are inverted between gridmap and heightmap in RaisimHeightmapRosConverter.
**Describe the bug** When I use the SQP method for my biped robot, the base height differs from my set value, and the leg joint movements are chaotic. What could...
