Add position bounds on the ODRI quadruped about tsid HOT 7 CLOSED

Hi @sduminy , currently joint position bounds are not implemented. If you want, I could give you some tips on how to implement them in TaskJointBounds. As a starting point you could take a look at this paper [1], which explains the theory.

[1] https://hal.archives-ouvertes.fr/hal-01356989v3/document

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And here you can find a python implementation of the method described in the paper I mentioned above.

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Okay, I will look into it and come back when I would have found a solution.
Thanks.

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I will first add an emergency stop when position limits aren't respected to test it on the robot, so I won't implement the position bounds in TaskJointBounds. I will close this issue for now and maybe reopen it later if I have time to tackle this.
Thank you for your answer and advices !

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Hello,
In order to implement joint position limits for Talos I have looked at the article and python code

I have implemented the C++ version of the python code inside tsid

The joint position limit seem to work

I need to do more testing , to test other velocity and acceleration limits as well as check the generated torque. I will keep you updated on this

Then it would be interesting to combine it with torque limits too

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Hi @dalinel
thanks for the update and for contributing to this project! When you're ready you can do a pull request so I can review the code.
Andrea

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Since the PR has been merged I think we can close this issue.

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