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loco-3d / pyrene

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Testing kinematic control without any stabilizer #3

Open olivier-stasse opened 7 years ago

olivier-stasse commented 7 years ago

Test sot-v3 assuming that the robot is fully rigid without any stabilizer. The plan is to do that with plans from HPP

olivier-stasse commented 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.

andreadelprete commented 7 years ago

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.