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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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Add new methods to RobotModel and some other minor modificiations #74

Closed cmower closed 1 year ago

cmower commented 1 year ago

Adding several new methods to RobotModel. @joaomoura24 this probably won't be too bad to rebase #41 but happy to hold off till that is merged - let me know what you want to do.

joaomoura24 commented 1 year ago

Yeah, i would hold this one because it will be easier to rebase this one with just 1 commit than the other PR.

cmower commented 1 year ago

I've also added a small feature in 863f9ca. This does a check after solve is called and throws a RuntimeError when the solver failed to converge. This is an optional feature.