From db923b41d156bd81bceafc645bb815223f21edad Mon Sep 17 00:00:00 2001 From: Tom Lankhorst Date: Thu, 5 Aug 2021 12:18:01 +0200 Subject: [PATCH] Add demonstration GIF to readme To motivate potential users --- README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/README.md b/README.md index 7127b1445..c7ea94d1b 100644 --- a/README.md +++ b/README.md @@ -8,6 +8,8 @@ OCS2 is a C++ toolbox tailored for Optimal Control for Switched Systems (OCS2). * SQP: Multiple-shooting algorithm based on HPIPM * PISOC: Path integral stochatic optimal control +![legged-robot](https://leggedrobotics.github.io/ocs2/_static/gif/legged_robot.gif) + OCS2 handles general path constraints through Augmented Lagrangian or relaxed barrier methods. To facilitate the application of OCS2 in robotic tasks, it provides the user with additional tools to set up the system dynamics (such as kinematic or dynamic models) and cost/constraints (such as self-collision avoidance and end-effector tracking) from a URDF model. The library also provides an automatic differentiation tool to calculate derivatives of the system dynamics, constraints, and cost. To facilitate its deployment on robotic platforms, the OCS2 provides tools for ROS interfaces. The toolbox’s efficient and numerically stable implementations in conjunction with its user-friendly interface have paved the way for employing it on numerous robotic applications with limited onboard computation power. For more information refer to the project's [Documentation Page](https://leggedrobotics.github.io/ocs2/)