TODO - Githubissues

mfocchi / locosim

This sofware is an open source framework used for didactics to simulate and deploy new robot plaforms

https://mfocchi.github.io/Teaching/

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Open mfocchi opened 1 year ago

mfocchi commented 1 year ago

[ ] incorporate obects in world file as a separate robot that you can spawn
[x] clean up L8 admittance
[ ] make uniform fixed base and floating base urdf
[x] make basecontroller inherit from base controller fixed
[ ] use setFloaqting base joint in Pinocchio
[ ] use upload.launch to load robot_description and robot_semantic_description in ros_impedance_controller

froscia commented 1 year ago

[ ] from quadruped_controller: reset function (freeze base + move joints to home config)
[ ] from quadruped_controller: start up from stand up and stand down
[ ] from quadruped_controller: save gazebo video

froscia commented 1 year ago

[x] plots: add start index and index: e.g., plotVar(time, var, start, end)
[ ] move specific world files inside robot descriptions
[ ] integrate ROS2 and CoppeliaSim https://www.coppeliarobotics.com/helpFiles/en/ros1Tutorial.htm

mfocchi commented 1 year ago

startFramework ros_impedance_controllerfloating.launch-> ros_impedance_controller.launch

Wcontacts ->contactsW

_receivePos receivcePose

create class with fifthOrderPolynomialTrajectory and bezier

fix bug in frameJacobian that does not update with True flag need to call forawardkin and getJointJacobians