Closed simeon-ned closed 4 days ago
coveralls
commented
1 week ago | Totals | |
|---|---|
| Change from base Build 9594397741: | 0.08% |
| Covered Lines: | 1640 |
| Relevant Lines: | 1656 |
coveralls
commented
1 week ago | Totals | |
|---|---|
| Change from base Build 9594397741: | 0.08% |
| Covered Lines: | 1640 |
| Relevant Lines: | 1656 |
stephane-caron
commented
1 week ago However, we currently need to install the robot_descriptions package directly from the dedicated repository. @stephane-caron, could you kindly release a new version of robot_descriptions that includes the G1 robot on PyPI before we merge this PR?
Released in robot_descriptions.py v1.11.0 :+1:
coveralls
commented
1 week ago | Changes Missing Coverage | Covered Lines | Changed/Added Lines | % | ||
|---|---|---|---|---|---|
| pink/tasks/com_task.py | 41 | 42 | 97.62% | ||
| <!-- | Total: | 167 | 168 | 99.4% | --> |
| Totals | |
|---|---|
| Change from base Build 9594397741: | 0.04% |
| Covered Lines: | 1678 |
| Relevant Lines: | 1695 |
coveralls
commented
1 week ago | Changes Missing Coverage | Covered Lines | Changed/Added Lines | % | ||
|---|---|---|---|---|---|
| pink/tasks/com_task.py | 41 | 42 | 97.62% | ||
| <!-- | Total: | 166 | 167 | 99.4% | --> |
| Totals | |
|---|---|
| Change from base Build 9594397741: | 0.04% |
| Covered Lines: | 1678 |
| Relevant Lines: | 1695 |
coveralls
commented
1 week ago | Changes Missing Coverage | Covered Lines | Changed/Added Lines | % | ||
|---|---|---|---|---|---|
| pink/tasks/com_task.py | 41 | 42 | 97.62% | ||
| <!-- | Total: | 167 | 168 | 99.4% | --> |
| Totals | |
|---|---|
| Change from base Build 9594397741: | 0.04% |
| Covered Lines: | 1678 |
| Relevant Lines: | 1695 |
coveralls
commented
1 week ago | Changes Missing Coverage | Covered Lines | Changed/Added Lines | % | ||
|---|---|---|---|---|---|
| pink/tasks/com_task.py | 41 | 42 | 97.62% | ||
| <!-- | Total: | 167 | 168 | 99.4% | --> |
| Totals | |
|---|---|
| Change from base Build 9594397741: | 0.04% |
| Covered Lines: | 1678 |
| Relevant Lines: | 1695 |
coveralls
commented
5 days ago | Changes Missing Coverage | Covered Lines | Changed/Added Lines | % | ||
|---|---|---|---|---|---|
| pink/tasks/com_task.py | 41 | 42 | 97.62% | ||
| <!-- | Total: | 167 | 168 | 99.4% | --> |
| Totals | |
|---|---|
| Change from base Build 9594397741: | 0.04% |
| Covered Lines: | 1678 |
| Relevant Lines: | 1695 |
coveralls
commented
5 days ago | Changes Missing Coverage | Covered Lines | Changed/Added Lines | % | ||
|---|---|---|---|---|---|
| pink/tasks/com_task.py | 41 | 42 | 97.62% | ||
| <!-- | Total: | 167 | 168 | 99.4% | --> |
| Totals | |
|---|---|
| Change from base Build 9594397741: | 0.04% |
| Covered Lines: | 1678 |
| Relevant Lines: | 1695 |
coveralls
commented
5 days ago | Changes Missing Coverage | Covered Lines | Changed/Added Lines | % | ||
|---|---|---|---|---|---|
| pink/tasks/com_task.py | 41 | 42 | 97.62% | ||
| <!-- | Total: | 167 | 168 | 99.4% | --> |
| Totals | |
|---|---|
| Change from base Build 9594397741: | 0.04% |
| Covered Lines: | 1678 |
| Relevant Lines: | 1695 |
simeon-ned
commented
5 days ago Dear @stephane-caron I have corrected some minor typos and perform tests and formatting, I think now we are ready to merge :)
coveralls
commented
5 days ago | Changes Missing Coverage | Covered Lines | Changed/Added Lines | % | ||
|---|---|---|---|---|---|
| pink/tasks/com_task.py | 41 | 42 | 97.62% | ||
| <!-- | Total: | 168 | 169 | 99.41% | --> |
| Totals | |
|---|---|
| Change from base Build 9594397741: | 0.04% |
| Covered Lines: | 1679 |
| Relevant Lines: | 1696 |
stephane-caron
commented
4 days ago Thank you @simeon-ned for this contribution! :+1:
In this PR, we introduce a simple Center of Mass (CoM) regulation task, where the CoM is calculated using Pinocchio. This task is structured similarly to the existing
Frametask, but without the orientation aspect. We have included an example using the G1 robot in the scriptexamples/humanoid_g1_com.py:https://github.com/stephane-caron/pink/assets/26837717/70129c42-c491-4531-981f-a625611b312e
However, we currently need to install the
robot_descriptionspackage directly from the dedicated repository. @stephane-caron, could you kindly release a new version ofrobot_descriptionsthat includes the G1 robot on PyPI before we merge this PR?Additionally, we propose adding an optional argument in the
solve_ikfunction to allow users to ignore joint limit checks. This feature could be useful for those who prefer handling exceptions themselves. Alternatively, joint limit violations could generate a warning instead of an exception. We would love to hear your thoughts on this, @stephane-caron.Thank you for reviewing these proposed changes, and we look forward to your feedback.