Open olivier-stasse opened 7 years ago
It has already been tested in simulation with Gazebo (to control the hand). The next step is to do it on the real robot.
This could be done using the entities PositionControl and JointTrajectoryGenerator (that are in sot-torque-control). JointTrajectoryGenerator can generate simple trajectories (e.g. sinusoids, point-to-point minimum jerk), or it can read more complex trajectories from txt files.
Test sot-v3 assuming that the robot is fully rigid without any stabilizer. The plan is to do that with plans from HPP