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leggedrobotics / ocs2

Optimal Control for Switched Systems
https://leggedrobotics.github.io/ocs2
BSD 3-Clause "New" or "Revised" License
874 stars 225 forks source link

loopshaping used in legged robot was no working #70

Open aaLiujs opened 1 year ago

aaLiujs commented 1 year ago

I add LoopshapingRobotInterface and LoopshapingReferenceManager and LoopshapingSynchronizedModule in LeggedRobotSqpMpcNode,but Loopshaping make a mistake solution of mpc.

NaCl-1374 commented 1 year ago

I also want to know how to use loop shaping, can you provide some sample programs

aaLiujs commented 1 year ago

邮件收到，O(∩_∩)O谢谢。