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cmower / optas

OpTaS: An optimization-based task specification library for trajectory optimization and model predictive control.
https://cmower.github.io/optas/
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Fixing a problem with visualize.py handling casadi.MD types. #145

Closed FrankC96 closed 1 year ago

FrankC96 commented 1 year ago

Changed visualize.py, no problems seems to occur with other examples.

cmower commented 1 year ago

Thanks @FrankC96, however I tried out your changes but none of the visualizer examples work now. Furthermore, when I make the small fixes that get the LWR example working, the same problem (as in #124) persists with the LBR model. The LBR model shows:

Screenshot from 2023-06-16 17-39-51

whereas the LWR shows:

Screenshot from 2023-06-16 17-41-25

I believe the issue stems from how the robot transformation links are extracted from the URDF. I think something is missing there that affects the LBR and not the LWR, rather than the type conversions being passed to each of the Visualizer class methods.

If you would be able to provide a working solution, I would be very appreciative. Many thanks anyway.

cmower commented 1 year ago

Closing for now. Please reopen if you have a working solution. Many thanks anyway!