search

ARC-OPT / wbc

C++ library for optimization-based control of redundant robots
https://arc-opt.github.io/Documentation/
BSD 3-Clause "New" or "Revised" License
35 stars 13 forks source link

Kdl com jacobian #29

Closed ibergonzani closed 2 years ago

ibergonzani commented 2 years ago

add comJacobian method to RobotModelKDL the implementation is naive atm: weighted average of spaceJacobians for each segment with mass in the KDL tree

the method made a copy of the original KDL tree, add a frame(segment) to the tree for each body with mass, placed at the COG . the COM jacobian is computed using the added new frames

dmronga commented 2 years ago

Hey, I added a comparison of the CoM Jacobian computed in Hyrodyn vs. your KDL based solution. It is a bit weird. In the fixed-based test case (compare_kdl_vs_hyrodyn), the KDL CoM Jacobian is different from the one computed in Hyrodyn. In the floating base case (compare_kdl_vs_hyrodyn_floating_base), they are identical