Nathaniel Goldfarb

path follow with custom cost function

1

I am trying to design a custom MPC to follow a trajectory. The cost function has the form of (x-x_i)^T Q_i (x-x_i) + (u-u_i)^T R (u-u_i) where the x_i is...

joints not appearing in ECM model with no passive joints

2

in the ECM model I made all the joints passive: false This made 9/12 joints appear in the output. The following joints did not appear - yaw link-pitch back link...

This is in reference to #11 I used the reference numpy code and changed it to work with your library

Is the distance function implemented in the library use the logarithmic map function as defined in this paper? I am implemented a QGMM algorithm and I need this use this...

is it possible to get the name of the markers and rigid bodies using the SDK?