ADVRHumanoids/OpenSoT

getReference return a zero twist

Closed this issue · 3 comments

graiola commented

as the title suggest, there is a problem when getReference is called. The Vector6d is empty.

EnricoMingo commented

Hi @graiola, good catch! This is a bug indeed due to a safety mechanism in OpenSoT: basically at every loop, all the quantities different from a pose are set to 0 inside the task.
This is true for the following tasks:

Velocity Tasks:

  • Cartesian
  • CoM
  • Postural

Acceleration Tasks:

  • Cartesian
  • CoM
  • Postural

The same issue is present as well in some more testing tasks (QPPVM or Centroidal Dynamics) which for now I will not consider in this issue.

To solve this issue I will copy the last value (before setting to 0) into a buffer which will be returned instead of the actual value. I will start with the acceleration task.

EnricoMingo commented

For the moment, you can get the velocity twist reference BEFORE calling the update().

EnricoMingo commented

Fixed in issue151 branch. Needs to be tested.
I have updated the documentation accordingly.

@graiola