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RBDyn/Tasks IK plugin - resolve outstanding bugs #116

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ahundt opened this issue Nov 8, 2016 · 0 comments

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2 - In Progress

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Arm Motion Invers...

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ahundt commented Nov 8, 2016

From jrl-umi3218/Tasks#10

make sure gravity is going the right way, RBDyn seems to have Y as up, I use Z as up.
Initialize the QPSolver once in the constructor
Initialize the inertia matrices
Make a better robot object plus a function that initializes an RBDyn MultiBodyConfig from a V-REP handle or one of the ik config objects

address TODO(ahundt) items in https://github.com/ahundt/grl/blob/master/include/grl/vrep/InverseKinematicsVrepPlugin.hpp

ahundt changed the title ~~RBDyn/Tasks resolve outstanding bugs~~ RBDyn/Tasks IK plugin - resolve outstanding bugs

ahundt self-assigned this

ahundt added the 0 - Backlog label

ahundt added this to the Arm Motion Inverse Kinematics and Optimization milestone

ahundt added 2 - In Progress and removed 0 - Backlog labels

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