exotica
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ipab-slmc
Extensible Optimization Framework
Thank you for develop this platform, but I wonder about how to use the Interaction Mesh. Could Anyone help me about this question?T_T
Hi there, thanks for the awesome work, EXOTica is really a good framework for prototyping motion planning algorithms. The task map `interaction mesh` which you mention in the [book chapter](https://link.springer.com/chapter/10.1007/978-3-319-91590-6_7)...
- Adds a fallback from pybind11_catkin to system pybind11 (e.g. on conda) - Adds a Conda superbuild to build all exotica packages on CI from a single CMakeLists (except collision-scene-fcl-latest...
When a file is generated in a devel workspace, the path resolution is not clear: generated files live in `devel/share/{package_name}`; while rospack will resolve to `src/{package_name}`. Perhaps we need to...
E.g. with BoxDDP on Quu when using the cart-pole (example 07) due to a dimension mismatch. You need to compile in Debug mode.
Work-around: Always set the `dt` of the `DynamicsSolver` to equal the `tau` in the `DynamicTimeIndexedShootingProblem`.
The API for look-up by name in `CollisionScene` is a bit fuzzy. I.e. both names of _frames/collision objects_ (e.g., `base_link_collision_0`) and names of _links_ (`base_link`) can be used as arguments....
Similar to #134: The ANYmal model uses a custom `inertial_link` with a fixed joint to the `base_link` for the base's mass and inertia. This is disregarded in the KinematicTree.