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RobotDescription supports URDF #78

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dljsjr opened this issue Sep 14, 2016 · 2 comments
Closed

RobotDescription supports URDF #78

dljsjr opened this issue Sep 14, 2016 · 2 comments

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@dljsjr
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dljsjr commented Sep 14, 2016

No description provided.

@dljsjr dljsjr added the Epic label Sep 14, 2016
@dljsjr dljsjr changed the title RobotDescription can be generated by loading a URDF RobotDescription supports URDF Sep 14, 2016
dljsjr pushed a commit that referenced this issue Dec 15, 2016
…e/NRI-202_swing_waypoints to develop

* commit '006cb3c9aaf41e97c52e9c864d33a705e056381e':
  renaming variable
  fix up unit test
  make the planning happen in sole frame always - the desired values are then transformed to the control frame in each control tick.
  made unit test more exciting (and able to fail) by adding terrain objects that the robot has to step around
  added sole z up frame to swing state to be able to make trajectory waypoints independent of toe off angle
  switched out array with a RecyclingArrayList and making a full copy when setting a FootstepDataCommand from a FootstapDataMessage
  test making sure the rotation bug is fixed
  fix bug - there is some logic that needs to be added since now the location of the waypoints depend on the toe off angle
  hide visualization consistently when switching between trajectory types
  unit test for swing waypoints
  transform sole waypoint to foot control frame before planning swing trajectory
  fix bug
  create pipeline to pass swing trajectory waypoints from the footstep data message to the swing planner
  added field and documentation for swing trajectory waypoints inside the footstep data message
  added the ability in the swing planner to provide custom waypoints and to plan 3d swing trajectories if neccessary
  cleaning up the trajectory types
@dljsjr dljsjr self-assigned this Jan 24, 2017
@dljsjr
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dljsjr commented Jan 24, 2017

Currently tracking ros/urdfdom#97

@dljsjr dljsjr modified the milestones: Sprint 2, Sprint 3 Feb 8, 2017
@calvertdw
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See URDFTools in SCS 2.

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