Robot control#

The application demo_industrial_robot_pose demonstrates that the MPMCA can also be used for robot pose control. In this case, the MPC does not take the inertial signals (specific forces and rotational rates) as reference output, but the end-effector pose (position and orientation). You can run the application using the command

./build/bin/demo_industrial_robot_pose -c applications/demo_industrial_robot_pose/config.json

from the root directory. Then use Foxglove Studio to visualize the output data file robot_pose.mcap.