search

stack-of-tasks / tsid

Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio
BSD 2-Clause "Simplified" License
193 stars 75 forks source link

support for 3D contacts models? #30

Closed stonneau closed 5 years ago

stonneau commented 5 years ago

To handle quadruped robots such as HyQ in tsid, we had to modify the urdf files of the robot by adding virtual joints that allow to represent the 3D contacts of the robot as a 6D ones.

(urdf here: https://github.com/humanoid-path-planner/hpp-rbprm-robot-data/blame/master/data/hyq_description/urdf/hyq_contact6D.urdf)

While this might be useful to further constrain inclination of the leg when the robot is in contact, this can be problematic in the general case.

Do you think we should extend tsid to handle 3D contacts or not ?

andreadelprete commented 5 years ago

There's already a PR addressing this issue, which I should merge soon (I was just waiting for the Memmo winter school to be over).

stonneau commented 5 years ago

Sorry for the noise then, shall I close the issue or wait for the merge to do it ? Thanks

andreadelprete commented 5 years ago

I've just merged the PR so I close this issue