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WPI-AIM / ambf

Asynchronous Multi-Body Framework
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Unable to run input_device_teleop_example with PSM #163

Open zhengdae opened 2 years ago

zhengdae commented 2 years ago

Hi,

I was able to teleoperate the KUKA robot using the python GUI as demonstrated in the example. However, then I tried to replace KUKA with PSM.

I tried two methods:

  1. $ /ambf_simulator -p60 -t1 --launch_file ~/ambf/ambf_models/descriptions/launch.yaml -l5 -i0. In this case, the PSM showed up with a small red gripper. The teleoperation was not working on the PSM but the gripper angle could be controlled.
  2. I added a line in the launch.yaml file in "input_device_teleop_example". It is like:

world config: ./world/world.yaml color config: ./color/colors.yaml input devices config: ./input_devices/input_devices.yaml multibody configs: - "./blender-kuka-tip-sphere.yaml" #0 - "/home/ambf/ambf_models/descriptions/multi-bodies/robots/blender-psm.yaml"

However, the KUKA showed up again, even though I have commented out the KUKA yaml."

Could you please help me with it?

Best, Yi

adnanmunawar commented 2 years ago

Hi Yi, The above commit should fix the issue of applying forces to a body (end-effector) to move it for teleoperation purposes. You might want to take a look at this README to read more about what files and fields are required for setting up teleop control. Lastly, please refer to this issue for reading up on the issues and recommendations on teleoperating robots with articulated links.