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leggedrobotics
Optimal Control for Switched Systems
In MobileManipulatorDummyMRT.cpp ,there is a initial command.  However, this initial command seems to affect the initial pose, resulting in a different state than the task.info defined.
I would like to understand how joint control works in this simulation. Can anyone share a paper that this project is based on? Thanks!
If on the end of leg, we add an extra wheel, how can I use ocs2 toolbox for this model?
roslaunch ocs2_mobile_manipulator_ros manipulator_franka.launch erro: RLException: Roslaunch got a 'No such file or directory' error while attempting to run: gnome-terminal -- /home/wzh/ocs2_ws_1/devel/lib/ocs2_mobile_manipulator_ros/mobile_manipulator_dummy_mrt_node __name:=mobile_manipulator_dummy_mrt_node __log:=/home/wzh/.ros/log/053e6a08-bbca-11ef-9368-612a5cc215cc/mobile_manipulator_dummy_mrt_node-5.log Please make sure that all the executables...
Hello, I was reading the paper "A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation" and noticed that in the WbcBase.cpp file, on line 135, the jointAccelerations are set...
