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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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Export the CoM velocity and the angular momentum trajectory in the CentroidalMPC #818

Closed GiulioRomualdi closed 6 months ago

GiulioRomualdi commented 6 months ago

With this PR it is possible to get the com velocity and the angular momentum provided by the CentroidalMPC