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stack-of-tasks / tsid

Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio
BSD 2-Clause "Simplified" License
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SE3 Inequality Task or Constraint #211

Closed sjauhri closed 1 year ago

sjauhri commented 1 year ago

Hello team,

I am using the tsid python API. Is there a way to add an SE3 Inequality Task or SE3 Inequality Constraint in the Python API? I want to constrain the motion of my end-effector to avoid collision

andreadelprete commented 1 year ago

Hi @sjauhri , the short answer is no. The longer answer is that this is related to this ongoing discussion: https://github.com/stack-of-tasks/tsid/discussions/204

Actually the discussion has been silent for a while now, but the long term plan is to integrate some new tasks to achieve collision avoidance. I suggest you to read the above-mentioned discussion and contribute there if you wish.