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mitchellspryn / UrdfSim

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motion planning and control backend #23

Closed huckl3b3rry87 closed 4 years ago

huckl3b3rry87 commented 4 years ago

Correct me if I am wrong, but it seems that there is no API or backend available to do motion planning and control, for instance in ROS, there is moveit.

I am interested in setting the position of the gripper, of the Arm URDF, so that I can pick up an object and move it around. To accomplish this, I will need to do trajectory/motion planning (maybe just inverse kinematics) and then trajectory following (low level control like PID) for each joint.

While I will enjoy writing this kind of code, time is a constraint for me and I was wondering if you had any ideas for backends that we may be able to establish for doing such a tasks.

mitchellspryn commented 4 years ago

There is nothing like that built into UrdfSim.

MoveIt is good. Writing a ros node to publish data from your bot into ROS should be pretty easy.

The Open Motion Planning Library might be of interest to you as well.

huckl3b3rry87 commented 4 years ago

@mitchellspryn thank you very much for the advice!