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stephane-caron / pink

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

Velocity vibrations in Go2 position barrier example #98

Open dbdxnuliba opened 1 week ago

dbdxnuliba commented 1 week ago

aaa

buy test the demo "python3 examples/barriers/go2_squat.py" speed vibration occurs,how can we solve the problem ,thanks

simeon-ned commented 4 days ago

@dbdxnuliba As the one who implemented this example, I will try to help. The issues here may be near the boundary of the barrier, or in tuning tasks in general. To avoid this, you might try adjusting safe_displacement_gain in the barrier constructor and lm_damping in solve_ik. However, it is hard to see the vibrations; it seems more like a problem with visualization. I will add a video of how this example is executed on my machine. I suggest studying the plots for the velocity coming out from solve_ik first.

https://github.com/stephane-caron/pink/assets/26837717/4cc17ef4-a895-4aa3-b37f-e67de9dde5f6