Inquiry about function genCOMConstraints()

loco-3d / sl1m

Implementation of the sl1m solver for multi contact planning

BSD 2-Clause "Simplified" License

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Inquiry about function genCOMConstraints() #3

Closed TaeilJin closed 4 years ago

TaeilJin commented 4 years ago

I have a question about the function

I use a python 3 and ubuntu 18.04.

I try to study the quadruped branch.

Inside of the genCOMConstraints, there is a com_in_limb_effector_frame_constraint.

It seems that it load existed obj files.

I thought the convex hulls will be changed by phases.

stonneau commented 4 years ago

Hi, the CoM constraints only depend on the orientation of the root. So a single file (assuming identity orientation) exists, and for each phase depending on the rotation the constraint polytope is rotated based on the provided rotation matrix.

Hope this helps ?

TaeilJin commented 4 years ago

I see, the polytope is a "COM workspace" which is written in sl1m paper.

Thank you!