Implement JointControlMode::PositionInterpolated
#347
Labels
complexity::medium
component::scenario::gazebo
good first issue
Good for newcomers
issue::type::enhancement
ScenarIO offers the
JointControlMode::PositionInterpolated
it is not implemented in any backend.gym-ignition/cpp/scenario/core/include/scenario/core/Joint.h
Lines 70 to 74 in f110973
Originally, my idea was to exploit
iCub::ctrl::minJerkTrajGen
, but introducing the dependency of the wholeicub-main
could be too much, and vendoring would be suboptimal.Maybe we can use
pantor/ruckig
instead (arxiv).Considering the need of specifying the parameters (velocity / acceleration / jerk limits) and its multi-DoF formulation, I think the most simple implementation is a standalone plugin. This means that it will not use our existing
JointController
plugin.In the meantime, smooth trajectories can be generated using the
LowPassTarget
plugin implemented in ami-iit/gazebo-scenario-plugins#4.The text was updated successfully, but these errors were encountered: