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borglab / GTDynamics

Full kinodynamics constraints for arbitrary robot configurations with factor graphs.
BSD 2-Clause "Simplified" License
41 stars 10 forks source link

Feature/ground height #223

Closed dishadas168 closed 3 years ago

dishadas168 commented 3 years ago

Corrected the spider walk example by adding ground_height argument to Trajectory.contactPointObjectives and WalkCycle.initContactPointGoal.

dellaert commented 3 years ago

Disha, it's GREAT that this works now, but I think you and I need to chat about what is going on, as I don't understand the meaning of "ground height". Also, we might want to use this branch, which now works, to immediately switch to the PointOnLink data structure.

I'll send an email to schedule

varunagrawal commented 3 years ago

@dishadas168 please delete branches that have been merged. :slightly_smiling_face: