Cable Robot Updates #331
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Cable Robot Updates #331
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keyformatter updates
get KeyFormatter printing
cdpr_planar, cdpr_planar_sim, and cdpr_controller_tension_dist all passing now
bugfix/gerry/python_jacobianfactor_rtti Be sure to manually set linearSolverType to QR, or use the MyLMParams() function in utils, or else the optimizer won't work properly.
* Key functions are no longer internal * values functions remove "Double" template parameter
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Well, you have to add (one) reviewer. If you add me, I'll say: can you please split it up in a few, easy to review PRs? |
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This PR merges in updates to the cable robot code. I should have made this PR a long time ago and also split up changes into separate PR's, but I kept procrastinating.
Updates include:
cdpr_planar_controllerto be a Base class that supports both iLQR and "naive" controllersgerry02-gerry04paint_parseutils.py[torque1; torque2; torque3; torque4] = K * [pose ; twist]so we would like to group the torques (which are currently 4 scalar variables) together and the pose+twist together.