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Among all the tasks supported by the IK what is missing is one that tries to stabilize the desired local CoP. Recent works [^1] shown that this tasks can be considered by adding an admittance controll…
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Hi,
I'm trying to calculate the ZMP point for a humanoid, Talos, within Isaac Gym. My approach? Leveraging contact information for the task. Initially, I turned to the `gym.get_env_rigid_contacts()…
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Hello fellow developers,
it would be awesome, if you could implement ZIL mining with any other single mining algo using the new zmp protocol.
Best Regards
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Originally identified when spawning certain items with mods, I realized this was happening in general in ZMP+RC play too.
When a server is started with the arbiter running and wait for arbiter to j…
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i'm not sure using zmq right.
I just use zmp's sub mode listen to a socket server(not implement with zmp) for its notifications. however when i debugging with vs2008 i found the received data missing …
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SequencePlayerで、明示的にZMP、waistPos、waistRpyを指令していないときの挙動の変更についてご相談があります。
1. デフォルトな値のwaitPos, waistRpyを出力する
現状setJointAnglesなど関節角指令だけ行われたときに、ZMPは立脚状態を仮定してそれらしい値を出力していると思います。
https://github.com/…
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歩行中に目標旋回角を変更した場合, 歩行中から停止2歩前の状態に移る軌道がズレている.
重心軌道からZMPを求め計画ZMPとのズレを確認する
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### Description
Hi, I want to run CHOMP as post-processing in my motion planning pipeline with custom constraints. Ideally, I will have a trajectory in the form `trajectory_msgs/JointTrajectory.msg…