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machines-in-motion / kino_dynamic_opt

Kino-dynamic optimization algorithm for multiped robots
BSD 3-Clause "New" or "Revised" License
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Ludo/second order ik #46

Closed majidkhadiv closed 3 years ago

majidkhadiv commented 3 years ago

This is the integration of the second order inverse kinematics implemented by @righetti. All the parameters of the new inverse kinematics are added to the config files available in the repo. Since the parameters of the second order IK have not been tuned for the demos, the first order IK is the default formulation used. It is explained in the README.md, how to change the formulation to the second order by changing a boolean in the config files...

majidkhadiv commented 3 years ago

@MaximilienNaveau @jviereck Thanks for the comments... I applied all of them, let me know if there is any more comments before merge...

MaximilienNaveau commented 3 years ago

Thanks for the work @majidkhadiv and @righetti !