Ability to define different robot

machines-in-motion / kino_dynamic_opt

Kino-dynamic optimization algorithm for multiped robots

BSD 3-Clause "New" or "Revised" License

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Ability to define different robot #3

Open jviereck opened 5 years ago

jviereck commented 5 years ago

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.

jviereck commented 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.