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LouKordos / walking_controller

The main walking controller code for the Bipedal Robot.
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Transform state and control action weights from body frame to world frame (see #85) #87

Closed LouKordos closed 3 years ago

LouKordos commented 3 years ago

This PR fixes #85 by defining the state and control action weights for every time step in the code instead of the pre-compiled NLP, and then transforming those weights from body frame into world frame, as described in #85 .

Logging of Q_world and Q_body has also been added.