Configuration is defined only for FrameType::Body, not for other enum values.

stephane-caron / pink

Python inverse kinematics based on Pinocchio

Apache License 2.0

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Configuration is defined only for FrameType::Body, not for other enum values. #48

Closed proyan closed 1 year ago

proyan commented 1 year ago

Hey Stéphane, Nice library :) I tried to use the library for a simple config calculation for a user-defined frame in the end-effector. I used the frametype pinocchio::FrameType::OP_FRAME , but it seems that it is not supported yet (see https://github.com/tasts-robots/pink/blob/master/pink/configuration.py#L161). (The more generic implementation might be with getFrameId and existFrame and so on).

Should be an easy change to make, please let me know if you want me to do it. Best, Rohan

stephane-caron commented 1 year ago

Hey Rohan, absolutely! So far I'd only needed to control body frames, hence the BodyTask. It would make sense to extend it to all frame types :+1: Feel free to open a PR, it would be welcome :smiley: