Drc Atlas #2
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Drc Atlas #2
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manumerous
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Apr 14, 2025
| std::vector<size_t> mpcModelJointIndices; | ||
| mpcModelJointIndices.reserve(mpcModelJointNames.size()); | ||
| for (size_t i = 0; i < mpcModelJointNames.size(); ++i) { | ||
| CHECK(fullJointIndexMap.find(mpcModelJointNames[i]) != fullJointIndexMap.end()) |
manumerous
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Apr 14, 2025
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manumerous
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Awesome! Looks great overall. Would be great if we could quickly adjust the formatting and then merge. :)
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| static std::unordered_map<std::string, size_t> createJointIndexMap(const std::vector<std::string>& jointNames, size_t offset = 0) { | ||
| static std::unordered_map<std::string, size_t> |
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I think we should enforce some formatting on the repo. I think we use an almoust identical formatter. I sticked with the ocs2 one. Would you mind reformatting with?
"clang-format.style": "{ BasedOnStyle: Google, ColumnLimit: 140, IndentWidth: 2, BreakBeforeBraces: Attach, DerivePointerAlignment: false, PointerAlignment: Left, AllowShortFunctionsOnASingleLine: Inline, IncludeBlocks: Preserve, BinPackParameters: false}",
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Adds the DRC Atlas model to the project.
To run:
make launch-drc-atlas-dummy-sim