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ADVRHumanoids / CartesianInterface

Package for generic cartesian control of floating base robots. It includes a ROS-based front end, as well as a programmatic API that can be used inside a real-time loop.
GNU General Public License v3.0
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Subconstraint implementation #69

Open EnricoMingo opened 2 years ago

EnricoMingo commented 2 years ago

I am trying to add this feature in CartesI/O based on the sub_constraint branch of OpenSoT, however, I am finding some problems understanding the flow during stack construction so I am not sure I have implemented correctly all the interfaces. In particular, I can not find where the YAML is parsed. @alaurenzi could you check the sub_constraint branch of CartesianInterface and give me some pointers?

alaurenzi commented 2 years ago

It should not require much code writing, as in Cartesio a constraint is essentially the same as a Task (and therefore it already contains the indices property and is compatible with the Subtask type).

Most of the work should be about upgrading OpenSotConstraintAdapter to support the concept of OpenSoT::SubConstraint (mostly replicating the logic inside OpenSotTaskAdapter)

EnricoMingo commented 2 years ago

I think then I took the wrong path since I have tried to replicate the same files as for the Subtask (both in the OpenSoT implementation and base classes)...