optas
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cmower
OpTaS: An optimization-based task specification library for trajectory optimization and model predictive control.
Hello, thanks for creating this library! I ran into a bug trying to visualize a sphere in Python 3.12. I know 3.12 isn't listed as an supported platform (https://github.com/cmower/optas#support), but...
Hi, There happens problem in get_link_position_function. For mobile dual-arm robot, its floating base is called donkey_base. The end-effector links of two arms are called LARM_END_EFFECTOR_grasp and RARM_END_EFFECTOR_grasp, respectively. The world...
I'm not sure when this happened, but the LBR model in the examples is messed up. From running other code, I am pretty much certain there is nothing wrong with...
Currently, the `solve()` method returns a dictionary containing the solution. I'm proposing here that we should implement a solution class that has the solution data packed inside but also comes...
In the RobotModel we are adding the ability to provide a list of param_joints, so that we can optimize a subset of the robot joint positions and/or velocities. This concept...
Let's consider removing spatialmath.py and replace it's functionality by using [spatial-casadi](https://github.com/cmower/spatial-casadi).
Currently, the visualizer is built on top of VTK that is not so easy to use. A potential alternative is [PyVista](https://docs.pyvista.org/version/stable/).
Currently, OpTaS only supports loading robots from URDF/xacro. At ICRA 23, there was interest for other formats, e.g. SDF or Mujoco.
Hi, Great job with this amazing library! I wanted to inform you about a possible bug in [models.py](https://github.com/cmower/optas/blob/master/optas/models.py) ``` J = self.get_global_link_geometric_jacobian(link, q) # Transform jacobian to given base link...
