Tasho: A Python Toolbox for Rapid Prototyping and Deployment of Optimal Control Problem-Based Complex Robot Motion Skills
Ajay Suresha Sathya,Alejandro Astudillo,Joris Gillis,Wilm Decré,Goele Pipeleers,Jan Swevers,Ajay Suresha Sathya,Alejandro Astudillo,Joris Gillis,Wilm Decré,Goele Pipeleers,Jan Swevers
We present Tasho (Task specification for receding horizon control), an open-source Python toolbox that facilitates systematic programming of optimal control problem (OCP)-based robot motion skills. Separation-of-concerns is followed while designing the components of a motion skill, which promotes their modularity and reusability. This allows us to program complex motion tasks by configuring and co...
