Derek Witcpalek ef26d8ffef Working arm movement to specific pose (x,y,z,roll,pitch,yaw). There are a lot of other changes too. ...

-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

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

..

build.sh

Splits project into a docker environment folder and source code folder (for development). This change is mostly just renaming and moving files, but there are some changes to the gazebo Dockerfile to include all dependencies required for final development.

2020-04-03 16:50:47 -04:00

Dockerfile

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

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

run_rrrobot_image.sh

Splits project into a docker environment folder and source code folder (for development). This change is mostly just renaming and moving files, but there are some changes to the gazebo Dockerfile to include all dependencies required for final development.

2020-04-03 16:50:47 -04:00