Debugging and updates - Githubissues

loco-3d / sl1m

Implementation of the sl1m solver for multi contact planning

BSD 2-Clause "Simplified" License

15 stars 15 forks source link

Debugging and updates #11

Closed daeunSong closed 3 years ago

daeunSong commented 3 years ago

This PR includes multiple fixes:

Fix surface area calculation method
Fix default transformation matrix of the foot calculation (now considers the root yaw orientation)
Fix to find correct combinatorics surface indices
Fix initial foot relative distance constraint

PR also includes the updates:

to make use of gurobi solver
updates on rbprm Talos demos (complex1, rubbles, slalom_debris, stairs)
updates on stand-alone scenarios demos (escaliers, complex)

stonneau commented 3 years ago

Outdated PR