Add Follow goal; test loading two samples; fix sample files + add missing... (!76) · Merge requests · tum-cps / Timor Python

Matthias Mayer requested to merge dev/ik_trajectory into main Feb 03, 2023

Small stuff:

Manipulability index robot (moved to !101 (merged))
tcp pose solution (moved to !101 (merged))
Plotting utils for solution (moved to !101 (merged)), trajectory (time over q, dq, ddq, tau, tcp, Manipulability, follow tracking error)
Trapezoidal task space trajectory (shortest trajectory with bounds on translation velocity and acceleration)

Test trapezoidal trajectory (velocity / acceleration limit kept; all on interpolation of end-poses)

Edited Mar 16, 2023 by Matthias Mayer

Add Follow goal; test loading two samples; fix sample files + add missing...