Planar 3d example - Githubissues

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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Planar 3d example #32

Closed joaomoura24 closed 1 year ago

joaomoura24 commented 2 years ago

Added 1 urdf and 2 files for simple examples using a 3 DoF planar robot arm.

the ik file refers to a full IK implementation for this robot.
the idk file refers to a differential IK implementation in a QP format - this is more for control applications.

cmower commented 1 year ago

@joaomoura24, what's the status on this?

joaomoura24 commented 1 year ago

@joaomoura24, what's the status on this?

Besides the issues with the solvers that were unrelated with the examples, it should be ready to merge. I would need to rebase it first and test if it still works. But if you are happy to merge it as it is, let me know and I'll rebase it.

cmower commented 1 year ago

You're just adding new files, so there won't be any issues merging (and no need to rebase). I will merge now, and test myself. If they have any errors then I will create an issue.