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