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loco-3d / crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
BSD 3-Clause "New" or "Revised" License
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Translation component for foot task in jumping problem #1287

Closed MR-KNV closed 3 months ago

MR-KNV commented 3 months ago

Hello, Thanks for such great library! I think that I found a mistake in biped.py module.
Now, when you create a pin.SE3 instance for foot task in jumping problem, a translation component is equal self.lfId + f0 for left leg (and self.rfId+f0 for right one). I think that correct form is lfFootPos0+f0 for left leg (and rfFootPos0+f0 for right one). With current description jumping problem doesn't work.

https://github.com/loco-3d/crocoddyl/blob/da92f67394c07c987458a8cb24bc0e33edd64227/bindings/python/crocoddyl/utils/biped.py#L173-L176

cmastalli commented 3 months ago

Thanks for reporting, @MR-KNV! This has been fixed in https://github.com/loco-3d/crocoddyl/pull/1288.