orca
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syroco
C++ Optimization-based framework for Robotic Control Applications
Hello, Due to a unrelated issue with my pc i had to reinstall. (I have intsalled ORCA before). However, using the same installation commands (https://orca-controller.readthedocs.io/en/master/getting_started/install.html), i find that the installation...
Hello. I am trying to use the the panda.urdf file (orca/examples/resources) as robot model input for the examples involving Gazebo, in particular the trajectory following example. However, the robot does...
Right now tasks are written as `|| E + f || ` , and each task can compute it's own quadratic cost (Hessian and gradient). All task's costs are summed...
As we are declaring per-tasks variables (acceleration , torque and wrench ), we might be able to build the problem dynamically (right now acceleration and torque are fixed ). Dynamics...
I'm thinking about having 2 functions in `orca::robot::RobotModel` to differenciate fixed base and floating robots: ```c++ robot->setFixedBaseFrame("base_of_the_manipulator"); // robot is fixed somewhere in the world. // and robot->setFloatingFrame("pelvis"); // robot...
