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jrl-umi3218 / mc_rtc

mc_rtc is an interface for simulated and real robotic systems suitable for real-time control
BSD 2-Clause "Simplified" License
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Fixed-base manipulator with mc_rtc and choreonoid #152

Closed mmurooka closed 3 years ago

mmurooka commented 3 years ago

I would like to use some kind of fixed-base manipulator robot in the environment of mc_rtc + choreonoid.

In the mc_rtc document, Panda and Sawyer are supported for mc_rtc.

First question: where can I get the panda_description with necessary files by mc_rtc (e.g., convex collision shapes)?

Second question: We also need the choreonoid project files, python script (sim_mc.py), etc. for runnig mc_rtc on choreonoid. For HRP robots, those files are managed in https://gite.lirmm.fr/choreonoid-hrp-installation/hrp-choreonoid. Does anyone already have those files for fixed-base manipulator?

Third question: We need to generate VRML robot model (*.wrl) from URDF robot model for choreonoid. How can I convert it?

gergondet commented 3 years ago

Hi @mmurooka

Everything you need is here: https://github.com/jrl-umi3218/mc_panda

It only requires ros-${ROS_DISTRO}-libfranka and ros-${ROS_DISTRO}-franka-ros. If the franka-ros meta package is not available then only franka-description should be required.

The description is based off the official panda description package from Franka Emika with just the mc_rtc related files added by mc_panda. The mc_panda project also includes Choreonoid projects that will work with mc_openrtm or mc_udp.

mmurooka commented 3 years ago

Thank you @gergondet

Panda manipulator on mc_rtc + choreonoid worked with installing mc_panda!

Additional few questions:

mmurooka commented 3 years ago

As shown in the below video, the robot joint positions in choreonoid are bit oscillating. Is this also expeted?

Joint oscillation stopped by setting rotorInertia and gearRatio in VRML model and tuning PDgains https://github.com/mmurooka/mc_panda/commit/26b2bb21c5ad2ee29e71a44b4e0caf67ab761ead https://www.dropbox.com/s/72gqoe4g5m5nu85/panda-choreonoid-gain-tune-20210603.mp4?dl=0

mmurooka commented 3 years ago

RealRobot in Rviz does not reflect the actual joint positions of the robot in choreonoid. Is this expected result?

By adding the configurations of ObserverPipelines containing Encoder observer, the real robot state is published.

Now all questions are solved, I'll close the issue.

( If the joint oscillation is common issue, we can consider to make Pull Request of parameter updates like https://github.com/mmurooka/mc_panda/commit/26b2bb21c5ad2ee29e71a44b4e0caf67ab761ead. )

gergondet commented 3 years ago

Hi @mmurooka

If the joint oscillation is common issue

I think it is. We didn't go very far with the Choreonoid simulation as the I.AM project moved away from using it as a simulation platform. The files remained here for the sake of preservation. If you can open a pull request with your changes it would be very much appreciated. Thanks!