Refactory of the swing foot planner

ami-iit / bipedal-locomotion-framework

Suite of libraries for achieving bipedal locomotion on humanoid robots

https://ami-iit.github.io/bipedal-locomotion-framework/

BSD 3-Clause "New" or "Revised" License

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Refactory of the swing foot planner #765

Closed GiulioRomualdi closed 10 months ago

GiulioRomualdi commented 10 months ago

This PR restructured the swing foot planner to handler corners case that came out while testing DNN-MPC integration. The code has been tested on the robot.