[feat] Equality constraints from the model, cassie examples#35
Merged
domrachev03 merged 60 commits intomainfrom Mar 18, 2025
Merged
[feat] Equality constraints from the model, cassie examples#35domrachev03 merged 60 commits intomainfrom
domrachev03 merged 60 commits intomainfrom
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This reverts commit 954b9d8.
…ement on scalar joints in joint task and barrier
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This MR implements equality constraints, which are parsed from equality constraints from MuJoco.
This is utilized to create two examples: squats and Angular LIP planner-based walking