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jrl-umi3218 / mc_rtc

mc_rtc is an interface for simulated and real robotic systems suitable for real-time control
BSD 2-Clause "Simplified" License
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[mc_tasks] Add PostureTask::jointWeights #316

Closed mmurooka closed 1 year ago

mmurooka commented 1 year ago

As a proposal, in PostureTask, it would be useful to specify dimWeight by passing a pair of joint name and weight via mc_rtc::Configuration.

Sounds good. Maybe a jointWeight entry? (note that jointGains/jointStiffness can do this at the stiffness/damping level of the task)

(from https://github.com/jrl-umi3218/mc_rtc/issues/314#issuecomment-1350492087)

I verified that the following configurations can be loaded correctly.

jointWeights:
  WAIST_R: 100
  WAIST_P: 200
  WAIST_Y: 300

Documentation and testing may need to be updated, but I'm not familiar with them, so I'd appreciate it if the maintainer could do that.