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hungpham2511 / toppra

robotic motion planning library
https://hungpham2511.github.io/toppra/index.html
MIT License
625 stars 170 forks source link

add fry friction in TOPPRA #34

Closed Linjackffy closed 5 years ago

Linjackffy commented 5 years ago

I add dry friction in TOPPRA. torque_limit.py is an example for this new feature. Notice that openrave should install before running this example.

hungpham2511 commented 5 years ago

@Linjackffy Thanks!. That looks alright. I am very happy to merge this PR.

However, there seems to be a conflict, and also Codacy is complaining. Can you fix these?

Btw, how does this work for your robots?

Linjackffy commented 5 years ago

@hungpham2511 The conflict has been resolved, you can merge this PR. Many work need to be done bofore testing toppra in my robot.