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stephane-caron / pink

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

CoM task #57

Closed ddliu365 closed 4 days ago

ddliu365 commented 1 year ago

Hi, Stéphane, I am wondering if there is a CoM task for a humanoid robot in current framework.

Need to use pink to solve IK using a LIPM model.

stephane-caron commented 1 year ago

There is CoM task yet, but as pointed out in CONTRIBUTING.md there is an existing reference for it in Pymanoid. Porting it to Pink would be totally welcome, if you want to take a stab at this I can help with reviewing the PR :smiley:

simeon-ned commented 4 days ago

@ddliu365, a friendly reminder that the CoM task was introduced in the last PR #96. @stephane-caron I believe we can close this issue for now. :)