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loco-3d / crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
BSD 3-Clause "New" or "Revised" License
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Once a backflip exceeds 180 degrees, anomalies may occur. Can you provide some ideas or a demo on how to solve this #1235

Closed dbdxnuliba closed 8 months ago

dbdxnuliba commented 8 months ago

Bug description

Hello，When I use crocoddyl trying to perform a backflip with a bipedal robot, if the target trajectory is set to 0-179 degrees, the backflip to 179 degrees is normal. However, once it exceeds 180 degrees, the backflip becomes abnormal, and the trajectory of the feet becomes abnormal. How can this problem be solved? Can you provide some ideas or a demo code on how to solve this.

Many thanks

cmastalli commented 8 months ago

Hi @dbdxnuliba,

Our examples are not designed to solve backflip or frontflip problems. We are planning to consider an example of this in the future. However, you'll need to be patient as this is not on our agenda in the next months. The reason is that we're planning to release this together with other changes as part of our ongoing research efforts.

In any case, Crocoddyl perfectly works with these types of examples.

I thank you for your patience and interest in our tool. Please consider contributing if Crocoddyl helps you in your work.

dbdxnuliba commented 7 months ago

@cmastalli ok,but is it a bug ,why it cannot exceed 180 degree,with current croddyl version