Taylor Howell
Taylor Howell
Let's add the cost term from the algorithm and default $\gamma$ to zero.
Let's add the cost term. The user can still set the task control cost terms to zero.
@alberthli can you update this branch so we can merge?
@nimrod-gileadi ?
Cool project! I took a look at the code you provided and didn't immediately see any problems. Can you provide a link to: `task_flat2.xml`? This way I can try and...
A couple things to look into: - the keyframe is incorrect. the nominal quaternion should be `1 0 0 0` for each quadruped. - the main script doesn't call `planner_step`...
@nimrod-gileadi is this still an issue? I just tried it and did not experience the failure case. My steps to replicate: `cmake -G Ninja -DCMAKE_BUILD_TYPE=ASAN` `cmake --build . --config=Release --target...
Were you able to build and run C++ MJPC on this virtual machine running Ubuntu 24? I would recommend trying Ubuntu 20.04. This is the version that we test with...
Great tasks! It looks like the floor is visualized a bit higher than the contact plane, let's modify the floor so that contacts with it are properly visualized. For the...