Comments (2)
Akshay5312
commented on August 18, 2024
Probably not! We still need some sort of (extensible) "problem data" structure that contains information like the mode, ideal footstep trajectory, target and starting configuration to enable generic constraints.
It (preferably) shouldn't have to take a user a lot of effort to set up the problem data.
Currently, we have "GenericProblemData" , so maybe we store initial and target configurations in GenericProblemData and remove TrajectoryGeneration structs?
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echandler5956f
commented on August 18, 2024
Done!
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