search

ethz-adrl / towr

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
http://wiki.ros.org/towr
BSD 3-Clause "New" or "Revised" License
929 stars 233 forks source link

Specifying goal z position #61

Closed mwchadwick1 closed 5 years ago

mwchadwick1 commented 5 years ago

Hello, Is there a way that I can specify a desired goal z position for the center of mass such that it is different from the initial z position? I see that in the towr user interface the page up and page down keys should shift the goal z position but they don't seem to have an effect. Thanks.

awinkler commented 5 years ago

Yes, you can add "Z" here: https://github.com/ethz-adrl/towr/blob/e1b0e5ed7f0feed55c5ea62fa42fa9ac7c407985/towr/src/parameters.cc#L66