Add six additional DOFs to optimize base link position.

roboptim / roboptim-retargeting

Motion Retargeting using RobOptim (EXPERIMENTAL)

http://www.roboptim.net/

GNU Lesser General Public License v3.0

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Closed thomas-moulard closed 10 years ago

thomas-moulard commented 10 years ago

Currently, the base is fixed at a particular position. This should be fixed.

thomas-moulard commented 10 years ago

This is fixed in Choreonoid ZMP computation, Metapod is more challenging as a new model must be regenerated from the URDF.