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Is ROS being used in the project? #20
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Hi @Robotgir, the URDF files are provided in case anybody would like to work with them. At the moment they are used to load the robot model in Crocoddyl in the DDP trajectory optimization Line 117 in 6caf96f
ROS is currently not used in the project. |
Thanks for the answer! Correct me if i am understanding something wrong. |
Most of the simulations and visualizations are realized with the dependency-free plant for the pendulum dynamics. The simulator class performs the integration and provides a visualization with matplolib.animation. The simulated DDP trajectory (see this example and here the implementation) can be visualized in the gepetto viewer, for which interfaces inside crocoddyl exist Line 247 in 6caf96f
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I saw the mention of URDF files but couldnt find a trace of ROS anywhere. If ROS is not used where for example in the project are these URDF files used?
I wanted to implment this project but only in simulation. Is this possible without having a physical setup?
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