Consider how current contact model impacts the controller. Without closing #26 , the controller does not have initial contact at the expected position, but rather on one edge of the foot. Also, looking at Boston Dynamics's Videos, there is a lot to improve to properly use a planar foot to its full potential, especially when having access to a 6DOF leg.
Consider how current contact model impacts the controller. Without closing #26 , the controller does not have initial contact at the expected position, but rather on one edge of the foot. Also, looking at Boston Dynamics's Videos, there is a lot to improve to properly use a planar foot to its full potential, especially when having access to a 6DOF leg.