added the special case for the stairs #1109
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* started working on a fix for pelvis rotationd elays * rolled back on how the time in the phase is found, and started adding a decay factor so the feedforward values dont go to the moon * fixed a bound inclusiveness problem
#1105) * added some changes to prefer previous reachable regions to yield more consistent, smoother results * reverted line change --------- Co-authored-by: Nick Kitchel <59104880+PotatoPeeler3000@users.noreply.github.com>
Co-authored-by: Nick Kitchel <59104880+PotatoPeeler3000@users.noreply.github.com>
Co-authored-by: Nick Kitchel <59104880+PotatoPeeler3000@users.noreply.github.com>
* Make ROS2HeartbeatMonitor garbage free * Add heartbeats to CSG objects * Added destroy method to CSGROS2CommunicationHelper and cleaned up usage in the panel --------- Co-authored-by: Alexander OCU <rosie@ihmc.org> Co-authored-by: Nick Kitchel <59104880+PotatoPeeler3000@users.noreply.github.com>
rjgriffin42
commented
Nov 18, 2025
| return true; | ||
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| private RobotSide getSideCarryingMostWeight(Footstep leftFootstep, Footstep rightFootstep) |
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This is copied from transfer to standing.
rjgriffin42
commented
Nov 18, 2025
| supportingSide = getSideCarryingMostWeight(footstepLeft, footstepRight); | ||
| supportingSide = supportingSide == null ? RobotSide.LEFT : supportingSide; | ||
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| TransferToAndNextFootstepsData transferToAndNextFootstepsDataForDoubleSupport = walkingMessageHandler.createTransferToAndNextFootstepDataForDoubleSupport(supportingSide.getOppositeSide()); |
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as it was, the hard coding didn't work well when the left foot led.
rjgriffin42
commented
Nov 18, 2025
| extraToeOffHeight = feetManager.getExtraCoMMaxHeightWithToes(); | ||
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| TransferToAndNextFootstepsData transferToAndNextFootstepsDataForDoubleSupport = walkingMessageHandler.createTransferToAndNextFootstepDataForDoubleSupport(supportingSide); | ||
| TransferToAndNextFootstepsData transferToAndNextFootstepsDataForDoubleSupport = walkingMessageHandler.createTransferToAndNextFootstepDataForDoubleSupport(supportingSide.getOppositeSide()); |
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Switched size, based on what I saw in the test.
* fixed the reachability constraint return * properly reset the feedback conditions for the ICP feedback
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