Comments (1)
Hi @kschultz1986,
Yes, you're right that sometimes these footholds might be hard to execute. However, physically a foothold on a vertical edge is feasible, as long as the force at this foothold is inside the now horizontally oriented friction cone. So using a foot to push horizontally off a vertical edge to generate some moment is a valid solution and imho should stay part of the search space.
If you want to prevent such footholds, or choose more conservative ones, you could add additional constraints on the slope of the terrain during stance. This would look similar to this
towr/towr/src/terrain_constraint.cc
Line 66 in 189fd39
except that you would constrain the slope of the terrain at the foothold xy position to be between e.g. -10 and +10 degrees.
Cheers, Alex
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