In AIRO-Mono, once this repository is pip installable, we should add an interface for a MobileRobotPlatform and a Tulip implementation of that interface.
We can follow the existing folder/package structure of airo-robots for the UR manipulators.
The implementation of the interface should send messages to the Tulip server, see the server branch and the scripts/test_client.py for an example on how to communicate with the server.
Required features
[x] Velocity control
[x] Expose encoder values for position estimation (to mimic the AIRO-mono API for PositionManipulators, we should support odometry in tulip)
[x] Compliant control
[x] Position control could be an abstraction layer on top of velocity control
[ ] Expose voltage_bus for battery status estimation
m-decoster
commented
2 months ago
In AIRO-Mono, once this repository is pip installable, we should add an interface for a MobileRobotPlatform and a Tulip implementation of that interface.
We can follow the existing folder/package structure of airo-robots for the UR manipulators.
The implementation of the interface should send messages to the Tulip server, see the
serverbranch and thescripts/test_client.pyfor an example on how to communicate with the server.Required features