wpi-aim / ambf_control_system Goto Github PK

Create a tool to visualize the RBDL model

The kuka model failed while attempting to parse

root node: base
kuka_control_node: /usr/local/include/rbdl/Joint.h:428: RigidBodyDynamics::Joint::Joint(RigidBodyDynamics::JointType, const Vector3d&): Assertion `joint_type == JointTypeRevolute || joint_type == JointTypePrismatic' failed.
Aborted (core dumped)

make and test a task space controller for the ECM.

add enhancement for mutple robot support

.../ambf_control_system/build/devel/include/rbdl_server/RBDLInverseDynamics.h:15:1: error: expected unqualified-id before 'namespace'
15 | namespace rbdl_server
| ^~~~~~~~~
..../ambf_control_system/build/devel/include/rbdl_server/RBDLInverseDynamics.h:40:31: error: 'RBDLInverseDynamics' is not a member of 'rbdl_server'; did you mean 'RBDLInverseDynamicsRequest'?
40 | struct MD5Sum< ::rbdl_server::RBDLInverseDynamics > {
|

It looks like there is build order issue in rbdl_server package.

Workaround:
run make a couple of times.

make and test controller for the PSM

need to have functions to read and return the file paths and mesh names for each of the bodies

Need method for getting model's name, end-effector, base, etc.
@nag92

Need to handling internally of joint numbers mistchs

make sure that the cmake and other includes are not hardcoded paths

need to build a task space controlerl

KUKA Model creation with base rotation

When parsing a robot the joint length seems to allows be n+1 in length
for example the KUKA has 7 joints but the returned length is 8

Need to find another way to decouple the parser from AMBF to allow it to work independently.

Track Changes for RBDL FK test cases for ECM Closed loop

There are serval joint types. From the parser the following joint types are possible

    def assign_joint_params_from_ambf_constraint(self, joint_obj_handle, joint_data):
        if joint_obj_handle.ambf_constraint_type == 'REVOLUTE':
            joint_data['type'] = 'revolute'
        elif joint_obj_handle.ambf_constraint_type == 'PRISMATIC':
            joint_data['type'] = 'prismatic'
        elif joint_obj_handle.ambf_constraint_type == 'LINEAR_SPRING':
            joint_data['type'] = 'linear spring'
        elif joint_obj_handle.ambf_constraint_type == 'TORSION_SPRING':
            joint_data['type'] = 'angular spring'
        elif joint_obj_handle.ambf_constraint_type == 'FIXED':
            joint_data['type'] = 'fixed'
        elif joint_obj_handle.ambf_constraint_type == 'P2P':
            joint_data['type'] = 'p2p'