Fix trapezoid profile when stepping down

leggedrobotics / free_gait

An Architecture for the Versatile Control of Legged Robots

BSD 3-Clause "New" or "Revised" License

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Open pfankhauser opened 7 years ago

FGiraldez commented 5 years ago

@pfankhauser do you remember the exact problem?

pfankhauser commented 5 years ago

Nope, but can easily be recreated in sim.