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Sixze / ALS-Refactored

Completely reworked and improved C++ version of Advanced Locomotion System V4.
MIT License
943 stars 261 forks source link

Fix feet dangling walking up rank corners #539

Closed jomath229 closed 1 month ago

jomath229 commented 1 month ago

It also has the side effect to reduce the extreme Ik we get on high angle slope where the IK trace hits nothing. Not sure if it should be desired or not