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borglab / GTDynamics

Full kinodynamics constraints for arbitrary robot configurations with factor graphs.
BSD 2-Clause "Simplified" License
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Spider Walking Example #174

Closed varunagrawal closed 3 years ago

varunagrawal commented 3 years ago

Adds the spider walking example which Disha and Tarushree started.

varunagrawal commented 3 years ago

PS we should squash and merge since this PR has a lot of minor commits.

varunagrawal commented 3 years ago

I am also moving spider.sdf from sdfs/test to sdfs. There is no reason an SDF used in an example should be a test fixture.

varunagrawal commented 3 years ago

FYI I ran the spider walking examples and they don't seem to converge. I'll add an issue for whomever wants to tackle this. It might be something trivial, maybe not, but something someone with more expertise on trajectory optimization and hexapods would be better suited for.