Dynamics constraints in cartesian space

[jstpierref]

Hello cuRobo team,

Thank you for your amazing work on this project! I was wondering if there are any plans to support dynamics constraints in Cartesian space. Currently, it seems that dynamics limits are only defined in joint space, which can be limiting for certain use cases.
For instance, some applications might require end-effector velocity or acceleration limits to be defined directly in Cartesian coordinates for more intuitive or application-specific control.

Could you share any thoughts or plans regarding this?

[balakumar-s]

You could add a new cost term here:

curobo/src/curobo/rollout/arm_reacher.py

Line 237 in 2fbffc3

def cost_fn(self, state: KinematicModelState, action_batch=None):

where you compute end-effector velocity using finite difference and then penalize if it's beyond a specific limit. If implemented in pytorch, then autodiff will take care of getting you Cartesian velocity limited trajectories.