- Remove ariac_ws from docker-compose
- Update home.md to indicate that GEAR is final simulation
- Update run_all.sh with comments and add sleep between commands
- Fix gitignore not ignoring core files and add comments
- Remove MoveIt dependencies from Dockerfile
- Delete build.sh from ariac_ws since not using MoveIt configs
- Remove catkin_make clean from arm_test.sh
- Remove catkin_make clean and install from rrrobot_run.sh
- Update gitignore to ignore build, devel, and install folders in rrrobot_ws
- Remove git submodules
- Rename rrrobot_src to rrrobot_ws indicating that this is a catkin workspace
- Create GEAR docker container
- Move GEAR specific documentation to its own page
- Add link to overleaf report on home page
- Add tips & tricks section to home page
- Remove gazebo source submodule
- Fix dockerfile to use sudo to install ariac3 package
- Remove instructions related to submodule
- Remove sourcing setup.bash in workspace from instructions
-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
- Add instructions for running warehouse simulation to README
- Create new warehouse docker service based on gazebo service
- Add new warehouse Dockerfile with commands for installing GEAR
