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justagist / panda_simulator

A Gazebo simulator for the Franka Emika Panda robot with ROS interface, supporting sim-to-real code transfer (Python). Exposes customisable controllers and state feedback from robot in simulation.
Apache License 2.0
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Does this project have position control in Cartesian space? #17

Closed HIT-Ajian closed 3 years ago

HIT-Ajian commented 3 years ago

Moveit motion planning will automatically detect collisions, but this is not what I want, so I don't want to use ROS motion planning. Does this project support motion planning in Cartesian space? I don't find a related package or library about Cartesian space.

justagist commented 3 years ago

Does this project support motion planning in Cartesian space? I don't find a related package or library about Cartesian space.

I am not sure what you mean when you say 'motion planning in cartesian space'. This package does not provide any planners at all.

Title: Does this project have position control in Cartesian space?

If you are looking for a controller for controlling the end-effector of the robot in cartesian space (which is the title of the issue), a direct controller is not provided, but you can write your own task-space controller using the provided joint-space controllers. As an example, see the task-space control demos provided. (1, 2) Here's the animation of the demo. Here the robot's end-effector is controlled using a PD controller in task-space written over the joint torque controllers. vid