resibots / inria_wbc

Generic whole-body controller based on quadratic programming
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add support for customize_task_weights in behaviors #81

Closed jbmouret closed 2 years ago

jbmouret commented 2 years ago

Now in the YAML of the behavior, you can add customize_task_weights: and tune the weights. The rationale is that we sometimes want to deactivate some tasks in some behaviors (e.g. momentum in walk-on-spot).

Example:

BEHAVIOR:
  name : humanoid::clapping
  trajectory_duration : 1.0
  motion_size : 1.1
  customize_task_weights:
    com: 0.0

Do not abuse it!

It is difficult to customize more that the weights in a generic way:

So, I'm not sure the added complexity / ugliness is worth it for the other parameters.