Chris Mower

> I guess this depends on what is being launched. If the hardware interface is launched, then the control rate is set by the controller manager, e.g. > > https://github.com/KCL-BMEIS/lbr_fri_ros2_stack/blob/d1e70a7a1160ea2d3f29203b6ab83e2919292c29/lbr_bringup/config/lbr_controllers.yml#L3...

@mhubii this is now ready to merge.

Hi @saikishor , I am wondering if there is any updates on this?

Ok no problem @saikishor, thanks for such a quick response! If we manage to setup then will open a PR.

Cool, will keep in mind. I can do the main implementation. Then you can check out once it is done when ever you have time.

Thanks @FrankC96! The `arrayify` decorator is to ensure that the array-like inputs to all the decorated functions have type `casadi.DM` or `casadi.SX` - the main point of this is to...

 I loaded the LBR model into pybullet, and all is well. This confirms the issue is with the visualizer and how it extracts the robot geometry.

Hi @hello-binit, thanks for your interest in optas and also pointing this out! :smile: Eventually, I and the other developers intend to provide support for recent python versions and also...

Some notes - When extracting `rpy` from the URDF, the way to convert this to a `spatial_casadi.Rotation` is to use `spatial_casadi.Rotation.from_euler("XYZ", rpy)` - Many unit tests need to be deprecated...

This is working nicely! However, there are some issues with it seg faulting without the `time.sleep(10)`.