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ADVRHumanoids / cartesio_planning

Package for whole body sampling based planning
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Problem with centroidal_statics check #17

Closed lucarossini-iit closed 3 years ago

lucarossini-iit commented 3 years ago

Hi everyone, Me and @FrancescoRuscelli were using centroidal_statics stability check (branch devel of this repo) to verify some poses coming from CentroidalPlanner repo. A lot of them were rejected and going deeper into the analysis we found out, together with @alaurenzi and @EnricoMingo that there is an issue in OpenSoT when solving the dynamic_feasibility problem with friction cones (see g_1 vector from the logger). We wait for your feedback.

lucarossini-iit commented 3 years ago

@alaurenzi can we close this issue?

EnricoMingo commented 3 years ago

I think we have solved/understood the problem related to this issue, I'll close.