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@havriutkin It even walks in the (sson to come) webdemo: |
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@copilot create a new PR that only has the python stubs change in this PR |
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| df = pd.read_csv('traj.csv') | ||
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| input("Press ENTER to continue.") | ||
| # input("Press ENTER to continue.") |
| p.stepSimulation() | ||
| time.sleep(1. / 240.) | ||
| t += 1. / 240. | ||
| # time.sleep(1. / 24.) |
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Maybe kill this as well?
| void setMass(const double mass); | ||
| const gtsam::Pose3 ¢erOfMass(); | ||
| const gtsam::Matrix &inertia(); | ||
| void setInertia(const gtsam::Matrix3 &inertia); |
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This can lead to potential issues later since our original plan was to write the code in a functional style, but this is making it imperative.
Mixing styles will make the code more spaghetti.
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I'll incorporate the two minor comments in a follow-up PR (after #423 - identical tio this, is merged) |
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Behavior change
Smaller things
New motion planning notebook
examples/example_a1_walking/chain_dynamics_motion_planning.ipynbNice swing phases obtained entirely by kino-dynamic MP:
and trunk xyz:
