This repository was archived by the owner on Jun 19, 2025. It is now read-only.
This release brings in the footstep interpolator used last February in the Saint-Nazaire demonstrator:
The interactive walking target marker in the GUI can be manipulated while the robot is in the Standing state. Footstep interpolation is now the default behavior, with static configuration plans still available in the Footstep plan combo box.
Added
- Footstep interpolator
Fixed
- Terminology regarding pressure and foot force ratios
- ZMP frame initialization