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bdaiinstitute / spot_wrapper

Wrapper for Boston Dynamics Spot SDK
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Added possibility to directly control the arm using an ArmVelocityCommand #104

Closed MGBla closed 6 months ago

MGBla commented 7 months ago

Change Overview

Added the ability to set a Velocity command for the arm. This enables a user to have direct translational and rotational control of the TCP movement using a controller or any other input device. The corresponding PR on the driver Repo provides a topic interface to send the corresponding movement command. The angular and Cartesian velocity were thoroughly tested during operation on our spot. For the cylindrical velocity I performed some basic tests but didn't evaluate over hours as the other two input methods since I don't really use them in this reference frame.

Testing Done

- [x] tested that these new functionality work on robot
robodreamer commented 6 months ago

Thanks for the update. Potentially, this provides another way to teleop the arm, since the current teleop uses a position command, but we could use the velocity command directly. The behavior around singularity and joint limits might be something to check once this PR gets merged.