tryied to put proxsuite qp in there. next up is to put in manipulability...

tryied to put proxsuite qp in there. next up is to put in manipulability maxxing as the secondary goal. this is a commit so that i can go back to other commits to find results and make videos

python/examples/cart_pulling_notes.md

+# the desided joint space position
+name:
+- myumi_001_yumi_robr_joint_1
+- myumi_001_yumi_robr_joint_2
+- myumi_001_yumi_robr_joint_3
+- myumi_001_yumi_robr_joint_4
+- myumi_001_yumi_robr_joint_5
+- myumi_001_yumi_robr_joint_6
+- myumi_001_yumi_robr_joint_7
+- myumi_001_yumi_robl_joint_1
+- myumi_001_yumi_robl_joint_2
+- myumi_001_yumi_robl_joint_3
+- myumi_001_yumi_robl_joint_4
+- myumi_001_yumi_robl_joint_5
+- myumi_001_yumi_robl_joint_6
+- myumi_001_yumi_robl_joint_7
+position:
+- 1.1781062998438787
+- -0.000595335227562165
+- -1.749208945070357
+- 0.4106104712156747
+- -2.060408639509931
+- 0.3044975499507672
+- 1.7246295661055797
+- -0.7019778380440242
+- 0.0394624047824147
+- 1.1381740635109037
+- 0.40438559848372346
+- 1.5945463973962233
+- 0.3724310942226761
+- -1.3882579393586854
+velocity: []
+effort: []
+
+# better
+name:
+- myumi_001_yumi_robr_joint_1
+- myumi_001_yumi_robr_joint_2
+- myumi_001_yumi_robr_joint_3
+- myumi_001_yumi_robr_joint_4
+- myumi_001_yumi_robr_joint_5
+- myumi_001_yumi_robr_joint_6
+- myumi_001_yumi_robr_joint_7
+- myumi_001_yumi_robl_joint_1
+- myumi_001_yumi_robl_joint_2
+- myumi_001_yumi_robl_joint_3
+- myumi_001_yumi_robl_joint_4
+- myumi_001_yumi_robl_joint_5
+- myumi_001_yumi_robl_joint_6
+- myumi_001_yumi_robl_joint_7
+position:
+- 1.177726666230488
+- -0.0014802503425588292
+- -1.7605729197578341
+- 0.4215065284996249
+- -1.9415690706067803
+- 0.2803584248036936
+- 1.6919710884998835
+- -0.7879804975484437
+- 0.22470208644656367
+- 1.3406988091378869
+- 0.35854547216754384
+- 1.7128065956042273
+- 0.22850344929702915
+- -1.5302555581528383
+velocity: []
+effort: []