Skip to content

aligator v0.5.1 - kinodynamical models for robots
Compare
Choose a tag to compare
@ManifoldFR ManifoldFR released this 24 Apr 10:07
· 1103 commits to main since this release
v0.5.1
This tag was signed with the committer’s verified signature.
ManifoldFR Wilson
GPG key ID: A4D60E0153ADD041
Learn about vigilant mode.
2d40254

What's changed

Fixed

  • Fix finite difference function in python unittest (#128)

Added

  • Add kinodynamics forward scheme
  • Add centroidal dynamics derivative cost to regularize the time derivative of centroidal dynamics
  • Add Python example of Solo stepping in place
  • Add wrench cone cost for 6D contact in centroidal dynamics
  • Add a 6D contact formulation for every centroidal cost and dynamics, including kinodynamics

Full Changelog: v0.5.0...v0.5.1

Assets 4
Loading