This PR contains various fixes for the controller, walking forward, sideways, turning in place, walking in circles etc. all work reasonably well for extended periods of time (tested for up to 2hrs since after that the simulation was confirmed to "break" / become unreliable). See feature branches and closed issues for implementation details.
Unused dependencies such as Eigen are also removed and properly compiled from source to clean up the repo structure.
This PR contains various fixes for the controller, walking forward, sideways, turning in place, walking in circles etc. all work reasonably well for extended periods of time (tested for up to 2hrs since after that the simulation was confirmed to "break" / become unreliable). See feature branches and closed issues for implementation details.
Unused dependencies such as Eigen are also removed and properly compiled from source to clean up the repo structure.