(The first run uses the latest version from PyPI, the second run is the current master branch.)
I don't think the gains should be reduced for the new task formulation? Or maybe this is because we are now including the free flyer in the task, whereas it was just q_2 = -q_1 before?
stephane-caron
commented
1 year ago
@ymontmarin I just tested the new linear holonomic task on the
humanoid_draco3.pyexample, and it seems it has become less numerically stable:https://github.com/tasts-robots/pink/assets/1189580/d0f2c9f1-b463-49a5-8c6f-6aeeef0a0002
(The first run uses the latest version from PyPI, the second run is the current
masterbranch.)I don't think the gains should be reduced for the new task formulation? Or maybe this is because we are now including the free flyer in the task, whereas it was just
q_2 = -q_1before?