exotica
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ipab-slmc
Extensible Optimization Framework
In order to automatically create Python bindings documentation, we need to add docstrings to our module/classes/methods. **Edit:** We now have auto-generated Python documentation, cf. [here](https://ipab-slmc.github.io/exotica/Python-API.html)
We've just noticed dubious collisions being reported by both FCL collision scenes. Links that are excluded in the SRDF are being returned as in collision (e.g. upperNeckPitchLink and head_imu_link).
We just resolved this with a workaround for @cmower but should look into why it occurs. It occurs when the ControlledJoints are a subset of the ModelJoints. The start state...
The world or robot link padding which is set in CollisionScene is not propagated or visualised: 1. **Issue 1:** Updating the link padding or scaling does not trigger an update...
Expose the solver-internal exit criteria codes and wrap them in a common enum/way so that we can identify/compare, e.g. reached tolerances, maximum iterations, etc.
Most of our existing taskmaps can be easily extended to provide Hessian information which we could and should exploit. - Use approximate Hessians when not available
Thus that they can be moved / transformed in the Scene as required
Shapes created by defining custom links do not get published when calling publish_frames. This was because they were considered robot as robot geometry and got ignored. This avoids displaying the...
I've been using an arm64 Ubuntu VM for my dev (M1 Mac) and noticed that the EXOTica arm64 binaries seem to segfault (`sudo apt install ros-$ROS_DISTRO-exotica`). Sorry, I forgot to...
