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FarmDragon / AppleCart

Pick dem apples
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Run the model dynamics with input from trajectory optimization #21

Closed cypressf closed 2 years ago

cypressf commented 2 years ago

It should fail to balance due to small numerical errors (which is what we'll stabilize using a feedback controller next)

cypressf commented 2 years ago

Related stack overflow post

cypressf commented 2 years ago

The stack overflow post got a response. You might take a look at https://drake.mit.edu/doxygen_cxx/classdrake_1_1trajectories_1_1_piecewise_polynomial.html#a6ec39e8128c0da804f03d8fbd17fd843 and use Zero Order hold.

arnoldjames98 commented 2 years ago

See #0ac64a8