Ft subgoal problem #133
Ft subgoal problem #133
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…bgoal (subgoal0) still has effect on the planning problem. problem?
…rol is achieved on top of position control.
…to checks in the example, you can just use the previous commit. If you like the checks, you can use this one :).
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last commit is with some checks to see if the orientation is actually considered. If you don't want to checks in the example, you can just use the previous commit. If you like the checks, you can use this one :). |
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Thanks a lot @saraybakker1 ,
this is really helpful because it is such a common use-case. Also, nice to add a kuka example here.
I want to have more understanding of the evdev issue, and limit the changes to the poetry.lock file before merging, but I will take care of that tomorrow.
Concerning the comment about moving the robot model to the robotmodels repo, that is for the future because it affects not only this PR, but many examples on the develop branch.
I also left some minor comments, which might be interesting for you.
poetry.lock
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Why is there so much changed in this file?
I understand some changes due to the evdev dependency, but 3334 lines seems excessive. I'll try to limit that.
…he forward kinematics computation. Improves code style.
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Hi @maxspahn, I saw you adapted the example, are you okay with merging it into main or should I still do some adaptations? |
added an example with the orientations for the kuka, such that you can completely determine the position and orientation of the kuka robot. simulation done in pybullet still. One thing: might be nice to remove the urdfs from the example folder and put it is in a urdfs folder (with the meshes inside).