Feature/impedance control #533
Open
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
LuigiPenco93
commented
Dec 13, 2024
| @@ -380,22 +380,15 @@ public void executeDesiredArmCommand(RobotSide robotSide) | |||
| RDXBaseUI.pushNotification("Commanding arm jointspace trajectory..."); | |||
| communicationHelper.publishToController(armTrajectoryMessage); | |||
| } | |||
| case TASKSPACE -> | |||
There was a problem hiding this comment.
removed taskspace without joints, as this is not the right way to control the arm and it's never worked.
As an external user, I want to either control the arm in jointspace or taskspace, with or without impedance control. The fact that the taskspace control is using a hybrid message shouldn't concern the user
| @@ -31,6 +44,41 @@ public HandHybridJointspaceTaskspaceTrajectoryCommand(RobotSide robotSide, boole | |||
| this.taskspaceTrajectoryCommand.set(taskspaceTrajectoryCommand); | |||
| } | |||
|
|
|||
| public HandHybridJointspaceTaskspaceTrajectoryCommand(RobotSide robotSide, boolean forceExecution, SE3TrajectoryControllerCommand taskspaceTrajectoryCommand, | |||
There was a problem hiding this comment.
these messages are not used for now, but will when replaying back or using a planner that can provide the gain trajectories and feedforward trajectories
stephenmcc
reviewed
Dec 18, 2024
| command.getSpatialAccelerationCommand().getSelectionMatrix(selectionMatrix); | ||
| selectionMatrix.getAngularPart().setAxisSelection(false, false, true); |
There was a problem hiding this comment.
This should be removed
Set the selectionMatrix.getAngularPar().setAxisSelection(false,false, true) makes error.
Beomyeong
force-pushed
the
feature/impedance-control
branch
from
544db5c to
4815806
Compare
# Conflicts: # ihmc-interfaces/src/main/generated-java/controller_msgs/msg/dds/HandHybridJointspaceTaskspaceTrajectoryMessagePubSubType.java
…feature/impedance-control # Conflicts: # ihmc-interfaces/src/main/generated-java/controller_msgs/msg/dds/HandHybridJointspaceTaskspaceTrajectoryMessagePubSubType.java
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Reference to impedance controller in TU/e paper:
Quadratic Programming-Based Reference Spreading
Control for Dual-Arm Robotic Manipulation With
Planned Simultaneous Impacts