Supported tasks and constraints

Supported tasks

Task parameters

All tasks inherit the following parameters:

• type: the type of task
• weight: a positive-definite matrix representing the soft priority of the task inside an aggregated task
• indices a vector of indices ranging from 0 to size-1 specifying the specific subtask that has to be considered (default is indices = [0 1 ... size-1]
• lambda: a gain that specifies the proportion in which a task error should affect the corresponding task velocity (default is lambda = 1)

Cartesian

• type = "Cartesian"
• distal_link
• base_link (default is world)
• orientation_gain (default is one)

Integration state:

• send references via ROS topics / actions: YES
• interactive control (RVIZ): YES

Center of mass

• type = "Com"

Integration state:

• send references via ROS topics / actions: YES
• interactive control (RVIZ): YES

Postural

• type = "Postural"
• weight can be given as a joint name -> joint weight map:

Postural:
      type: "Postural"
      weight:
        WaistLat: 5.0
        LKneePitch: 0.1
        RKneePitch: 0.1

Integration state:

• send references via ROS topics / actions: YES
• interactive control (RVIZ): YeS

Supported constraints

Joint limits

• type = "JointLimits"

Joint velocity limits

• type = "VelocityLimits"