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robotology / gym-ignition

Framework for developing OpenAI Gym robotics environments simulated with Ignition Gazebo
https://robotology.github.io/gym-ignition
GNU Lesser General Public License v3.0
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Implement whole-body controllers for fixed and floating base robots #88

Closed diegoferigo closed 4 years ago

diegoferigo commented 5 years ago

For the users of Gym-Ignition, it would be helpful having generic implementations of whole-body torque controllers. I propose to develop three controllers:

  1. Fixed base controller: canonical computed torque controller
  2. Floating base controllers:
    1. Joint Space Feedback Linearization: same as 1 but for a floating base system
    2. Constrained Inverse Dynamics: assuming the existence on holonomic constrants, control both joints and floating base projecting the torques to the null space of the contacts
diegoferigo commented 4 years ago

A new controllers architecture has been implemented in #166 and #167. It is now possible to run controllers in a separate thread than Python, and we introduced handy C++ interfaced to implement and integrate within Ignition Gazebo new custom controllers.

So far we only have independent PID controllers #166 and a fixed-base computed torque controller #167. We will extend our controllers set progressively.