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ADVRHumanoids / casannis_walking

Casadi based walking code for quadrupeds and quadruped manipulators using Trajectory Optimization
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Pose adaptation while stepping #4

Open IoannisDadiotis opened 3 years ago

IoannisDadiotis commented 3 years ago

Hi @alaurenzi . I created this issue for discussing future thoughts about the desired pose adaptation that we will possibly need for the stepping centauro.

At first, looking at my current stack used for stepping, I would like to ask about the Postural task. The task definition follows:

Postural:
    type: "Postural"
    lambda: 0.01
    weight:
        VIRTUALJOINT_1: 0.0
        VIRTUALJOINT_2: 0.0
        VIRTUALJOINT_3: 0.0
        VIRTUALJOINT_4: 0.0
        VIRTUALJOINT_5: 0.0
        VIRTUALJOINT_6: 0.0

I didn't find much info on this on the Cartesio Doc. Can you help me understand what does a postural task exactly regulate, does it have to do with the robot pose ? What is the quantity of the robot kinematics that the names VIRTUALJOINT_* represent?

Thanks

alaurenzi commented 3 years ago

A postural task regulates the robot configuration to converge exponentially to a desired one (usually, the homing posture). In our model library, the robot base is connected to the world through six virtual joints, that implement a minimal representation of the base pose w.r.t. the world. By setting the corresponding weight to zero, the postural task will not act on such a pose.