Posture task doesn't work with continuous joints

stephane-caron / pink

Python inverse kinematics based on Pinocchio

Apache License 2.0

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Posture task doesn't work with continuous joints #9

Closed stephane-caron closed 1 year ago

stephane-caron commented 1 year ago

Continuous joints have nq=2, whereas the posture task assumes nq=1 for revolute joints so that the tangent twist between two joint configurations is simply their difference. This will need to be generalized.

Example: see WIP_kinova_gen2_arm.py in the examples folder.
Related: https://github.com/stack-of-tasks/pinocchio/issues/1751
Related: https://github.com/stack-of-tasks/pinocchio/issues/794

stephane-caron commented 1 year ago

Fixed in https://github.com/stephane-caron/pink/releases/tag/v0.5.0, see e.g. the Kinova Gen2 example.