An integrated humanoid control, planning and perception system. Developed by MIT and the University of Edinburgh for the Boston Dynamics Atlas and the NASA Valkyrie humanoid robots
Add 1 Second to offset the plan so that the controller
can blend from the current desired joint position to the plan joint position
this was added to avoid controller jerks when starting short plans.
Now uses a single source of arm and pelvis timestamps.
Removes the joint_trajectory message that was previously unused.
Add 1 Second to offset the plan so that the controller can blend from the current desired joint position to the plan joint position this was added to avoid controller jerks when starting short plans.
(will merge after testing on robot)