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Minor stuff during implementation of Liu Tasks from 2020

Matthias Mayer requested to merge fix/TaskHeader2json into main
  • Cost fulfillP
  • Show meshes with color in ply format
  • Fix schemata download
  • Fix deepcopy of meshes + add test
  • Allow to forbid jointangle wrap for ik (e.g. if solving a trajectory the robot cannot just move through this its whole joint space)
  • Change default robot visualization such that collision mesh locations are also updated.
Edited by Matthias Mayer

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