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aligator v0.5.0 - Nonlinear centroidal dynamics and filter line-search
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@jorisv jorisv released this 13 Feb 09:52
· 1146 commits to main since this release
v0.5.0
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jorisv Joris Vaillant
GPG key ID: 63380359F089A579
Learn about vigilant mode.
d9add4a
This commit was signed with the committer’s verified signature.
jorisv Joris Vaillant
GPG key ID: 63380359F089A579
Learn about vigilant mode.

What's Changed

Added

  • Add a pair filter strategy as an alternative to linesearch methods
  • Add a python example of a locomotion OCP with the robot Talos
  • Add two nonlinear centroidal dynamical models, where the control is respectively contact forces and their time derivative
  • Add a set of cost functions to generate a centroidal problem with user-defined contacts
  • Add unittests and example of typical centroidal problem

Full Changelog: v0.4.1...v0.5.0

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