Implement Scenes as plugins

ARC-OPT / wbc

C++ library for optimization-based control of redundant robots

BSD 3-Clause "New" or "Revised" License

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Closed dmronga closed 6 months ago

dmronga commented 1 year ago

This way we have complete freedom in configuration, e.g. do not require differents Tasks for velocity and acceleration control in Rock/ROS
Started here: https://github.com/ARC-OPT/wbc/tree/scene_plugins, configuration of the scenes is partly missing