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This Wiki curates discussions that happened in GitHub issues.

Questions

• Can I write my own walking pattern generator?
• How can I configure new walking trajectories?
• How is the CoM state estimated in this code?
• How to use the graphical user interface?
• What are the pros and cons of CoM admittance control?
• What does the X_a_b notation mean?
• What ZMP inequality constraints are used in the MPC during stair climbing?
• Why isn't there an angular momentum task in whole body control?

Documentation

• Building from source
• Using the Docker image
• Overview of the code
• Tuning the stabilizer
• Troubleshooting
• Walking pattern generation