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stephane-caron / pink

Python inverse kinematics based on Pinocchio
Apache License 2.0
169 stars 11 forks source link

Add LinearHolonomicTask #43

Closed shbang91 closed 1 year ago

shbang91 commented 1 year ago

I closed the old PR and instead made cleaner commit history.

Here, the major changes are the following:

  1. Removed the draco3 robot description
  2. Added a general class of LinearHolonomicTask
  3. Added a child class of LinearHolonomicTask called JointCouplingTask

I am looking forward to seeing any feedback from you.

Thank you!

stephane-caron commented 1 year ago

Would you be up for adding unit tests for the new tasks in the tests/ folder?

You could take inspiration from test_posture_task.py to spin e.g. test_linear_holonomic_task.py and test_joint_coupling_task.py.

shbang91 commented 1 year ago

Would you be up for adding unit tests for the new tasks in the tests/ folder?

Yes, I can make those unit tests.

shbang91 commented 1 year ago

Based on your comments above, I've made some changes and added unit tests. Please feel free to give me any feedback you might have. By the way, I've tried to edit the documentation, but I don't know exactly how it works, so maybe I need to leave it to you :disappointed_relieved:

stephane-caron commented 1 year ago

LGTM. I took care of the documentation, fixed the issue mypy had when verifying the weights matrix, and merged this PR. @shbang91 thank you for your contribution :smiley: