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I am working on a project which has one underactuated prismatic joint connected to the free floating base.
That is, this prismatic joint will affect the inertia distribution, but no motor is connec…
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I checked the paper for the impulse dynamics and didn't find a restitution coefficient in the function `crocoddyl.ImpulseModel3D`.
`supportContactModel = crocoddyl.ImpulseModel3D(self.state, i)
…
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Dear all,
I am trying to control the position of a robot's Center of Mass (CoMPosition) using crocoddyl. Unfortunately, I found that adding a cost with CostMoelCoMPosition has no effect on the traj…
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As the issue mention in #792, for the whole body manipulation example in `/crocoddyl/examples/whole_body_manipulation.ipynb`, should we add the zmp constraint while moving the manipulator with whole b…
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Dear all,
I have a question about the friction cone constraint, `CostModelContactFrictionConeTpl`.
This class imposes a penalty based on the contact force `d->contact->jMf.actInv(d->contact->f).li…
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Hi, I tested the solver, and got this error:
```
---------------------------------------------------------------------------
BAD_PARAM Traceback (most recent call …
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Hi,
I am compiling the project on Ubuntu 20.04 with gcc 9.3.0. The workspace was set to C++17 (`-std=c++17`). I then get compilation errors arising from boost serialization in conjunction with Eigen.…
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Hi,
I want to construct a customized frame velocity cost like the following:
is the frame linear velocity.
I am using a python library. How do I construct a customized cost like this?
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Hi,
I want to differentiate a unit vector in the world frame as in this equation
…
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Hi,
I want to use Crocoddyl to control a hammer in order to hammer a nail when the friction is high enough for the hammer to need multiple hits before the nail is entirely down (I am using BoxDDP t…