general info
- c++ implementation because python is too slow, and we're just doing math anyway
- but there are python versions of everything for students who don't need the best performance
some specifics
- using the ur_rtde implementation of the client-side real-time interface for ur robots
- using pinocchio for dynamics intergration on the client side
- basic closed-loop inverse kinematics control will be implemented
- some basic tests will be here as well, other projects built on this will be in separate repos
TODO
- find a convenient, fast and correct way to integrate dynamics client side --> pinocchio
- force control on the gripper
- get a project group to do impedance/admittance control
- see if something needs to be c++ed
- basic environment simulation: dynamics with lugre friction via straight o.d.e. integration