Implement AngularMomentum task in the IK component #443
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GiulioRomualdi
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traversaro,
S-Dafarra and
paolo-viceconte
traversaro
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Nov 8, 2021
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| /** | ||
| * AngularMomentumTask is a concrete implementation of the IK::Task. Please use this element if you | ||
| * want to control the position and the orientation of a given frame rigidly attached to the robot. |
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Yes I fixed the documentation
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traversaro
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Nov 8, 2021
| def test_angular_momentum_task(): | ||
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| # retrieve the model | ||
| model_url = 'https://raw.githubusercontent.com/robotology/icub-models/master/iCub/robots/iCubGazeboV2_5/model.urdf' |
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Perhaps you may want to get a fixed release to avoid that a change in icub-models breaks this test?
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I think that as soon as we can start using pybind11 iDynTree bindings we can switch to iDynTree.get_random_chain(10)
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In that case, we need to remind to set a fixed seed.
traversaro
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Nov 8, 2021
| * linear and angular velocity expressed in mixed representation and the joint velocities. | ||
| * The task represents the following equation | ||
| * \f[ | ||
| * A_{cmm_\omega} \nu = {}^G[A} h_\omega ^* |
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Not sure the correct fix, but G[A} probably needs to be fixed?
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This task can be used to control a desired angular momentum in the IK.
This can be useful to generate a swing motion of the arms when the robot is position control