Feature/planar base - #310

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clementPene wants to merge 11 commits into

agimus-project:humble-develfrom

Tiago-Pro-Harmonic:feature/planar_base

Commits on Mar 23, 2026

add function to convert ff message to planar base
Clement Pene
committed
74fc065
add planar base option to model
Clement Pene
committed
07fe1a9
change actuation model depending the use of FF, planar base or fixed
Clement Pene
committed
c2409f3
add planar base to controller
Clement Pene
committed
0467590
update nodes reagrding modifs on controller
Clement Pene
committed
6318617
try to fix blocking __init__ from get_param_from_node
Clement Pene
committed
69f0722
fix(trajectory_publisher): async non-blocking init with timeout/retry for LFC params
Clement Pene
committed
916d12d

Commits on Mar 30, 2026

prevent user to use a specific cost on EE frame - for example with hpp, I wanted to try to use only the cost on configuration
Clement Pene
committed
3232311

Commits on Apr 7, 2026

prevent trajectory buffer to be empty at the end of the trajectory
Clement Pene
committed
d1f00fc

Commits on Jun 1, 2026

precommit update
Clement Pene
committed
1bac711

Commits on Aug 17, 2026

planar base: publish trajectory reference velocity instead of OCP feed-forward term
clementPene
committed
b4a65d1