ambf_control_system's People
ambf_control_system's Issues
create comments are parser
Create a tool to visualize the RBDL model
Create a tool to visualize the RBDL model
Model paring failed
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)
implement the getcontroler list services
added comments to the server
task space controller for ECM
make and test a task space controller for the ECM.
add muitple robot support to RBDL server
add enhancement for mutple robot support
create README with instruction
compilation issues
.../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 a task space controller for PSM
make and test controller for the PSM
create methods to read and access the meshes
need to have functions to read and return the file paths and mesh names for each of the bodies
Generalized model body names access
Need method for getting model's name, end-effector, base, etc.
@nag92
handling of the joint number mismatch
Need to handling internally of joint numbers mistchs
make sure that the cmakes are not hard coded
make sure that the cmake and other includes are not hardcoded paths
need to develop a task space controller
need to build a task space controlerl
figure out install method for RBDL and other depencancies
KUKA Model creation with base rotation
KUKA Model creation with base rotation
add comments to the controllers
joint length seems to allows be n+1 length
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
discuses how to decouple the parser from AMBF
Need to find another way to decouple the parser from AMBF to allow it to work independently.
RBDL FK test cases for ECM Closed loop
Track Changes for RBDL FK test cases for ECM Closed loop
several joint types missing
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'
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