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Robotic-Decision-Making-Lab / angler

ROS 2 framework for lightweight autonomous underwater vehicle manipulator systems
https://robotic-decision-making-lab.github.io/angler/
MIT License
15 stars 3 forks source link

[FEATURE]: Refactor the kinematics implementation using Pinocchio #28

Open evan-palmer opened 5 months ago

evan-palmer commented 5 months ago

Feature Type

Adding new functionality to Angler

Problem Description

The current implementation of the UVMS kinematics is a bit constraining and can be improved to support future algorithm development.

Feature Description

Refactor the kinematics implementation using Pinocchio. This will help improve the TPIK control implementation as well.

Alternative Solutions

N/A

Additional Context

No response