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abr / abr_control

Robotic arm control in Python
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Adding in support for spherical joint control in Mujoco #86

Closed studywolf closed 3 years ago

studywolf commented 3 years ago

Had to update the indexing in several places to allow for ball joints to be used, because ball joint positions are defined by quaternions (4d) but their velocity is 3d. Surprisingly didn't have to add much to address this case, though.

studywolf commented 3 years ago

The resting config doesn't support ball joints yet, should probably throw an error if the users tries? Or could just spend the time to work out how to calculate it given quaternion orientations, and have a check for if ball joints are being used.

p3jawors commented 3 years ago

LGTM - updated nengobones, pylint ignore words are not in setup_cfg, travis-ci passing