Working arm movement to specific pose (x,y,z,roll,pitch,yaw). There are a lot of other changes too.

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-Removed gravity (temporary, I hope). I was struggling to get inverse dynamics working correctly to provide a torque to compensate for gravity. Eventually, I think we want to have a PID, plus gravity compensation.
  -Created a demo world with setpoints that the robot heads to.
  -Arm kinematic representation is working.
  -PID control of each joint is working to a basic extent. Some segments are more responsive than others.

Still to do:
  -reading in SDF should be more robust, and should support all joint types
  -better control
  -obstacle avoidance in arm movement path
  -control with gravity
  -arm joint limits, and shortest path to angle (ie considers that theta wraps at 2 pi

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This commit is contained in:

Derek Witcpalek

2020-04-12 14:18:01 -04:00

parent 24ae0bd01d

commit ef26d8ffef

13 changed files with 2434 additions and 74 deletions

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