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DAIRLab / dairlib

MIT License
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Fix bugs in WorldPointEvaluator and CassieFixedPointSolver #290

Closed yminchen closed 2 years ago

yminchen commented 2 years ago

Thanks Diego for catching the bug in WorldPointEvaluator!

This PR fix a bug in the rotation matrix creation from ground normal direction in WorldPointEvaluator. Another bug related to ground incline was found in CassieFixedPointSolver during testing.

New changes were tested and visualized in cassie sim.

This change is Reviewable