Open facontidavide opened 3 years ago
For the records... problem solved with
formulation.params_.force_polynomials_per_stance_phase_ = 1;
I have an intuition of why that is happening, but still looks weird to me.
Another problem, apparently, was to have a stance phase time exactly equal to:
formulation.params_.dt_constraint_dynamic_
(0.1 by default)
Is the latter a bug, maybe?
Hi,
I was trying to calculate the inverse dynamic of a robot in static stance position.
Unfortunately, I observed that the generate ee_force splines have wild oscillations (value at time t=0 is correct).
This is the code I used:
What do you think it is going on and how can I prevent this from happen?