v3.4.0: Joint-velocity task

[stephane-caron]

This release adds the JointVelocityTask whose aim is to track a reference joint-velocity vector via $\arg\min_v \Vert v_{ref} - v \Vert^2$. This task can be used, for instance, if a reference velocity is computed by other means (optimal control, reinforcement-learned policy, ...), and the differential IK acts as a constraint-enforcing filter. An example illustrates this with a Unitree Z1 tracking a trajectory that would violate joint limits:

arm_z1_cropped.mp4

(In the example, joint limits don't prevent self-collisions when the arm is folded on itself.)

Added

• Task: JointVelocityTask for tracking a reference joint-velocity trajectory

Fixed

• Save problem instance in NoSolutionFound exception

Removed

• Remove unused attribute of SelfCollisionBarrier

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This discussion was created from the release v3.4.0.