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loco-3d / sl1m

Implementation of the sl1m solver for multi contact planning
BSD 2-Clause "Simplified" License
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Gait planner #15

Closed FannyRis closed 2 years ago

FannyRis commented 3 years ago

Small fixes and improvments

FannyRis commented 3 years ago

@stonneau I fixed the step_size_cost

FannyRis commented 3 years ago

In the MR, the MIP planner biped (Talos) finds contact point outside of surfaces It can be observed with the ramp and complex planner scenarios.

-- FIXED with commit update problem_definition_talos

stonneau commented 3 years ago

Thanks for the contribution. This is fine for me. @pFernbach @nim65s Any objections ?