search

CentroEPiaggio / pacman-DR53

This repository contains the necessary tools to run the demo contemplated in DR 5.3 of the PaCMan Project.
GNU General Public License v2.0
0 stars 0 forks source link

Upgrade Vito simulator #15

Closed carlosjoserg closed 9 years ago

carlosjoserg commented 9 years ago

This issue depends on the resolution of CentroEPiaggio/kuka-lwr#3 and CentroEPiaggio/pisa-iit-soft-hand#3.

This will allow to use position controllers in the effort interface in the simulated kuka, and position controllers in the position interface in the simulated soft-hand, as it is done currently with real Vito.

carlosjoserg commented 9 years ago

Question by @hamalMarino via email: when, more or less, do you think simulation will be working?

It is working using effort controllers. I just want to include position controllers to be in sync with the real platform. I was thinking of a milestone for this, but there is only this issue, as far as I can see. So, to answer the question, it will be ready by the end of this week, so it will be available for testing using simulations.

carlosjoserg commented 9 years ago

With a bit of delay, but the arm sim interface is ready. The new interface is identical to the real one concerning joint interfaces, so that allows to use controllers exactly as with the real interface.

Now the hand.

carlosjoserg commented 9 years ago

The position interface for the hand is done. I still have a doubt on performance that I will check on Tuesday when I'm there, but at least Vito can be loaded almost the same as in reality (there is an issue with the mimic tag, so I'll wait for that to be solved to close this issue as well).