junhyeokahn/pypnc

Python Implementation of Planning and Control

pypnc's Issues

Atlas example gets stuck

Not sure what I'm missing here but the Atlas example gets stuck after a few iterations.

I only know this because enabling the control computation time print out shows that it stops. This is not the case for the manipulator example.

Initialize
================================================================================
[WalkingState] STAND
ctrl computation time:  0.01023721694946289
ctrl computation time:  0.010233163833618164
ctrl computation time:  0.009650945663452148
ctrl computation time:  0.010210990905761719
ctrl computation time:  0.012571573257446289
ctrl computation time:  0.014132022857666016
ctrl computation time:  0.009562015533447266
ctrl computation time:  0.008954524993896484
ctrl computation time:  0.008904695510864258
ctrl computation time:  0.011704683303833008
ctrl computation time:  0.011358022689819336
ctrl computation time:  0.008925676345825195
ctrl computation time:  0.008788585662841797
ctrl computation time:  0.01023411750793457
ctrl computation time:  0.009508371353149414
ctrl computation time:  0.00990438461303711
ctrl computation time:  0.009284496307373047
ctrl computation time:  0.010796070098876953
ctrl computation time:  0.009235858917236328
ctrl computation time:  0.01134800910949707
ctrl computation time:  0.010422468185424805

Running on 20.04 LTS. Perhaps that's the issue.

Add reference to paper.

I think it's good add a reference to the paper so that people know what to cite when they use PyPnC to benchmark their whole-body controllers.

Ahn, J., Jorgensen, S. J., Bang, S. H., & Sentis, L. (2021). Versatile Locomotion Planning and Control for Humanoid Robots. Frontiers in Robotics and AI, 257.