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zitongbai / bipedal_control

Bipedal robot control using ocs2
BSD 3-Clause "New" or "Revised" License
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Some conventions #1

Open zitongbai opened 1 month ago

zitongbai commented 1 month ago

the floating base velocity is represented in the WORLD frame with JointModelTranslation and JointModelSphericalZYX as root joint ref

zitongbai commented 1 month ago

The angular velocity: https://github.com/stack-of-tasks/pinocchio/discussions/1657#discussioncomment-8322374