Python Binding for TaskActuationEquality

[ZafarArmaghan]

Hi,

Is there a python binding available for TaskActuationEquality.

I need to specify a passive joint in TSID. To do that, I want to set the torque of that joint to be equal to zero. However, when I try to implement it I get the following error.

"AttributeError: module 'tsid' has no attribute 'TaskActuationEquality' ".

[andreadelprete]

Unfortunately at the moment there are no python bindings for TaskActuationEquality. You could approximate by adding a large penalty on the torque of the passive joint. Alternatively, I could guide you through the implementation of the Python bindings, which is rather simple if you have some experience with C++.

[rua0ra1]

Hi @andreadelprete ,
Thank you for your response to my colleague's question. We appreciate your assistance. I am happy to work on implementing the Python bindings as I have some experience with C++. Before I begin, are there any specific guidelines or instructions for this library that I should be aware of?

Thank you.

[andreadelprete]

Hi @rua0ra1 ,
the instructions for compiling the library from source are on the main github page of the project. Regarding the python bindings, it should be rather simple by following the examples of the other bindings. These are the steps that I think are necessary (I might miss something though):

• create a new file task-actuation-equality.cpp in the folder bindings\python\tasks following the example of another file in that folder
• in the folder include/tsid/bindings/python/tasksadd a file task-actuation-equality.hpp, following the example of another equality task, such as task-com-equality
• in the file expose-tasks.hpp add a function to expose the new task

This should do it, but if you encounter any issue feel free to ask me here.

[rua0ra1]

Thanks for the details @andreadelprete. I will work on it and get back to you if i encounter any issues. Thank you and have a good one :)