Expand description
Bipedal walking planner with modified designated footsteps.
Ports the linear inverted-pendulum footstep adjustment demo from PythonRobotics.
Reference:
- PythonRobotics
Bipedal/bipedal_planner/bipedal_planner.py
Structsยง
- Bipedal
Plan - Walking plan output.
- Bipedal
Planner - Planner for the PythonRobotics-style bipedal footstep adjustment demo.
- Bipedal
Planner Config - Configuration for the bipedal planner.
- Footstep
- One foot placement in world or body-relative coordinates.