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loco-3d
multicontact-locomotion-planning
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5603f39a57b2ee22e69bac399cde6ac8d0c9dae1
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devel
docker_v2
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v0.1
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Created with Raphaël 2.2.0
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Adding Maze Easy example
[cs][TEMP] sl1m : orientation of feet is now always the one from the guide, without interpolation
[config][cs] GUIDE_MAX_YAW is now defined in common files
[cs] sl1m : correctly take the final orientation from the guide planning
[cs] sl1m : adapt to API changes in getSurfacesFromGuideContinuous (max_yaw argument)
[cs] sl1m : init height correctly adapt to the height of the floor
[util] remove debug output from check path
[util] check path : can now check collision/joint limits only at a given timestep, instead of always at the same timestep that the IK
[cs] sl1m : update to python package name change
[configs] talos : add parameter GUIDE_STEP_SIZE used by SL1M method
[cs] lp : update script to directly formulate problem from a guide path
[effector][TEMP] limb-rrt now work with numpy matrix instead of array
[main] correctly create folders for serialization results if they doesn't exist
Merge pull request #21 from pFernbach/devel
[wb] adapt to changes in pin.RobotWrapper.BuildFromURDF API
[wb] correctly call eigenpy.switchtomatrix in tsid script
Merge pull request #20 from loco-3d/devel
Merge pull request #19 from pFernbach/devel
[demo] add demo config for talos_randomMove (for memmo)
[demo] update talos_lp maze and slalom
[config] hrp : factorize phases duration values in common_hrp2 file
[cs] lp script : when using orientation from guide, check if the feet do not cross, and adjust the orientation
[cs] cs_tools, moveEffector now take a initStateCenterSupportPolygon argument to always set the init state at the center of the support polygon
[cs] cs_tools, initial config used for the projection is now the reference one, with the root correctly moved
[cs] cs_tools, reference config is now projected with the com above the center of the support polygon
[util][wb] move rootOrientationFromFeetPlacement from tsid script to util
[demo] add demo config file for lp_maze
[config] talos : increase default SS time and shiftCom
[cs] moveEffectorToPlacement : do not display stepping stones by default
[export] blender stepping : update to changes in viewer
[viewer] stepping stones : add each effector in a specific node group
[cs] update lp script
[demo] add working demo with LP contact sequence
[demo] update manually defined walk for talos
[demo] working config in simu for anymal
[wb] if use_planning_orientation is False, computeroot reference orientation from the feet orientation
[export] blender : export stepping stones automtically
[end effector] limb-rrt : fix mistake which prevented all the iterations to be tried
[config] talos : increase default height of feet trajectory
[cs] rbprm : allow to provide absolute path to rbprm script in config file
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