Open jviereck opened 5 years ago
One way to do this might be to make the current problem more flexible. That meaning have a base class which allows to add new legs / endeffectors on the fly. Have the current problem (with two hands and two legs) be an instantiation of this more special case.
At this point, the solver's robot (and especially the leg/hand order) is hard coded. It would be nice to be able to define the leg/hand order manually.