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Adding holonomic constraints #37
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That's an interesting use case, we should add an example for it 🙂 I see a few ways this could co:
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Thanks for your comment! I think the holonomic task depends on its use case. Based on your first suggestion, I made a simple holonomic task class, in which I construct the Jacobian of the holonomic constraint inside If you want me to make a pull request for the holonomic task class, I can work on that to make it more generic. Let me know what you think. Thank you again for your help! |
Great 😃 Feel free to open a PR, I'm all in for adding it to Pink as it can be useful to others. |
Awesome. Once I finish the work, I'll open a PR. Thank you! |
Since #40 the error and Jacobian are now computed in two separate functions (this change will hit v0.9.0). Feel free to finish your work and open a PR with the old API, I can help with adapting to the new one. And of course if you can make the PR for the new API directly all the better 😉 |
Sounds good. To me, it makes more sense to separate those functions. |
Closing this issue now that #43 has been merged. Opened #45 as a follow-up to #43 (comment). |
Hello Dr. Caron,
Thank you for maintaining this nice repo.
I have a question regarding how to set a holonomic constraint when solving IK using the API you provided in this repo.
I've looked through the documentation of this repo, but I only found the body and posture task class, so my best guess is I could not solve the IK on the holonomic system given the current APIs.
My problem is: I have a 7-DOF manipulator in which one of the joints is passive(q_1) while satisfying the relation of q_1 = q_2 (one active joint) at the same time, so I would like to move this hard constraint to the cost function (by making it a soft constraint). Is there any task class that I can use to solve this problem?
I would really appreciate you if you could get me any ideas or suggestions.
Best,
Seung Hyeon
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