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ahundt / grl

Robotics tools in C++11. Implements soft real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning, Hand Eye Calibration and Inverse Kinematics integration.
https://ahundt.github.io/grl/
BSD 2-Clause "Simplified" License
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RBDyn/Tasks IK plugin - resolve outstanding bugs #116

Open ahundt opened 7 years ago

ahundt commented 7 years ago

From https://github.com/jrl-umi3218/Tasks/issues/10

  1. make sure gravity is going the right way, RBDyn seems to have Y as up, I use Z as up.
  2. Initialize the QPSolver once in the constructor
  3. Initialize the inertia matrices
  4. Make a better robot object plus a function that initializes an RBDyn MultiBodyConfig from a V-REP handle or one of the ik config objects

address TODO(ahundt) items in https://github.com/ahundt/grl/blob/master/include/grl/vrep/InverseKinematicsVrepPlugin.hpp