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full body interface and it makes sense. does not break other code by itself....
full body interface and it makes sense. does not break other code by itself. that said it won't work arbitrarily because a lot of logs and so on use robot.model.nq, and now it has to be model.nq to support controlling joint subspaces. those will be addressed on a case-by-case basis, i don't have an hour to fix all of this now, nor a few more to write all the required tests. onto mobile base only path-following mpc
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- examples/navigation/mobile_base_navigation.py 0 additions, 0 deletionsexamples/navigation/mobile_base_navigation.py
- python/smc/control/cartesian_space/cartesian_space_point_to_point.py 12 additions, 12 deletions...control/cartesian_space/cartesian_space_point_to_point.py
- python/smc/control/control_loop_manager.py 7 additions, 3 deletionspython/smc/control/control_loop_manager.py
- python/smc/robots/implementations/heron.py 5 additions, 1 deletionpython/smc/robots/implementations/heron.py
- python/smc/robots/interfaces/mobile_base_interface.py 4 additions, 11 deletionspython/smc/robots/interfaces/mobile_base_interface.py
- python/smc/robots/interfaces/single_arm_interface.py 5 additions, 0 deletionspython/smc/robots/interfaces/single_arm_interface.py
- python/smc/robots/interfaces/whole_body_interface.py 137 additions, 0 deletionspython/smc/robots/interfaces/whole_body_interface.py
- python/smc/robots/robotmanager_abstract.py 10 additions, 1 deletionpython/smc/robots/robotmanager_abstract.py
- python/smc/robots/utils.py 1 addition, 3 deletionspython/smc/robots/utils.py
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