robotoc
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mayataka
Efficient optimal control solvers for robotic systems.
Hello, first of all, I'd like to say that what you're doing is amazing. I really like this project a simply reading through the code teaches me a lot. I...
Surface contacts are necessary to model contacts in humanoid robots. The following classes should be implemented: - [x] `SurfaceContact` (similar to `PointContact`) - [x] `FrictionWrenchCone` (similar to `FrictionCone`) - [x]...
The new version Pinocchio 3.0 will be released and has many improvements from the past version. We then have to update the followings: - [ ] : `PointContact` - [...
Since the new STO algorithm is also valuable for the centroidal dynamics model, it is worth implementing such models.
The following Python bindings are not mandatory, but can be useful to check whether the formulation (settings of cost and constraints) are correct or not in Python: - [ ]...
The real time iteration (RTI) scheme can improve the performance of MPC. For this purpose, we need to decompose `updateSolution()` into the following two functions: - [ ] `preparationStepRTI(t, q,...
Terminal constraints are often needed to ensure the stability of MPC. Therefore, it is nice if we can design the terminal constraints independently from the constraints on the other time...
The current implementation assumes that the contact surface is just the ground, i.e., its normal vector is z-axis and the height is zero. The class - [ ] `ContactSurface` must...
In MPC for the legged robots, the problem structure of the OCP can change due to its discrete nature. A little a bit complicated warm start strategy may be useful....