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Add Human inverse kinematic class #15

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12894ef
update .gitignore
davidegorbani Dec 1, 2023
60ee442
added HumanIK class
davidegorbani Dec 1, 2023
4b48803
added method to HumanIK to get Joint positions and velocities
davidegorbani Dec 4, 2023
1fec607
added a simple test to test the methods implemented in HumanIK
davidegorbani Dec 4, 2023
1e9720f
switched CI to latest tag of blf
davidegorbani Dec 4, 2023
fbcd38d
updated conda-deps and added LieGroupControllers in Source-based depe…
davidegorbani Dec 4, 2023
05e75b4
update ci.yml
davidegorbani Dec 4, 2023
2bf08ab
update ci.yml
davidegorbani Dec 4, 2023
61680f6
update ci.yml
davidegorbani Dec 4, 2023
6acb191
update ci.yml
davidegorbani Dec 4, 2023
f1301eb
update ci.yml
davidegorbani Dec 4, 2023
c34dc3c
changed name from InversereKinematic in InverseKinematics
davidegorbani Dec 6, 2023
50d62e2
added interface to get base position and orientation
davidegorbani Dec 6, 2023
3c17ce4
Update ci.yml
davidegorbani Dec 6, 2023
dbe8187
Update ci.yml
davidegorbani Dec 6, 2023
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Update ci.yml
davidegorbani Dec 6, 2023
3b722b1
added SO(3) task for a node
davidegorbani Dec 6, 2023
bd52513
updated ci_env.yml
davidegorbani Dec 7, 2023
b325cd0
updated ci_env.yml
davidegorbani Dec 7, 2023
141b569
updated ci_env.yml
davidegorbani Dec 7, 2023
ebfa0e0
updated HumanIKTest
davidegorbani Dec 11, 2023
eb125c3
install depedencies from mamba for ubuntu in CI
davidegorbani Dec 12, 2023
83411d4
update ci.yml
davidegorbani Dec 12, 2023
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7a95a39
removing .github/workflows/conda-deps.yml
davidegorbani Dec 12, 2023
29498db
Update CHANGELOG.md
davidegorbani Dec 13, 2023
ddb3095
added Logging in HumanIK
davidegorbani Dec 14, 2023
406d2e0
added integrator and setting robot state in advance
davidegorbani Dec 14, 2023
45e42ce
removed not necessary variables
davidegorbani Dec 14, 2023
038ac7a
updated gitignore file
davidegorbani Dec 14, 2023
c767a51
document code using doxygen format
davidegorbani Jan 8, 2024
847174f
Update InverseKinematics.cpp
davidegorbani Jan 8, 2024
22eb87a
Update InverseKinematics.cpp
davidegorbani Jan 8, 2024
638b673
checking size of input vector for getJointPositions and getJointVeloc…
davidegorbani Jan 8, 2024
d3c8370
returning dt of integration in seconds in getDt method
davidegorbani Jan 8, 2024
7ab8139
minor changes
davidegorbani Jan 8, 2024
141dc44
minor changes
davidegorbani Jan 9, 2024
29e4b36
updated documentation
davidegorbani Jan 9, 2024
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Update InverseKinematics.cpp
Co-authored-by: Giulio Romualdi <giulio.romualdi@gmail.com>
davidegorbani and GiulioRomualdi authored Jan 8, 2024

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commit 847174f64537873ea64529a4ddaa47e8ddb3f2c1
10 changes: 4 additions & 6 deletions src/IK/src/InverseKinematics.cpp
Original file line number Diff line number Diff line change
@@ -105,15 +105,13 @@ bool HumanIK::advance()
ok = ok && m_qpIK.advance();
ok = ok && m_qpIK.isOutputValid();

if(ok)
{
m_jointVelocities = m_qpIK.getOutput().jointVelocity;
m_baseVelocity = m_qpIK.getOutput().baseVelocity.coeffs();
}
else
if(!ok)
{
BiomechanicalAnalysis::log()->error("[HumanIK::advance] Error in the QP solver.");
return false;
}
m_jointVelocities = m_qpIK.getOutput().jointVelocity;
m_baseVelocity = m_qpIK.getOutput().baseVelocity.coeffs();

ok = ok && m_system.dynamics->setControlInput({m_baseVelocity, m_jointVelocities});
ok = ok && m_system.integrator->integrate(0s, m_dtIntegration);