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nbfigueroa / task_motion_planning_cds

This repository includes the packages and instructions to run the LASA Motion planning architecture developed initially for the rolling task within the Robohow project, but can be used for any task that and any type of controller in task spacce (i.e. desired cartesian pose/ft/stiff)/
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Cannot find state-transformers package #5

Open carismoses opened 6 years ago

carismoses commented 6 years ago

Hi @nbfigueroa, I am interested in implementing a hybrid controller on a Kuka and came across your work. I'd like to try to implement it but I can't find the state-transformers package (https://github.com/epfl-lasa/state-transformers). Has it been moved somewhere else?

nbfigueroa commented 6 years ago

Hi Caris, sorry for the delayed answer. I have made that package public now. But, to be honest, this code is quite old and the way we implemented the hybrid control was due to the fact that we were working with an old kuka interface in which we could only send either joint velocity. As you will see in https://github.com/epfl-lasa/state-transformers/blob/master/src/cart_cmd_to_joint_vel.cpp We compute the cartesian force error as a desired velocity and then transform this to joint velocity.

If you have the Kuka Fri interface, then I suggest you should implement the hybrid controller using the straightforward equations and send torque commands to the robot. We have a nice interface to control a Kuka LWR with the FRI interface, it is quite easy to implement your own controller. Interface here: https://github.com/epfl-lasa/kuka-lwr-ros

At the moment, we don't have an example of a hybrid controller, but you can see other types of controllers here: https://github.com/epfl-lasa/kuka-lwr-ros/tree/master/kuka_lwr/lwr_controllers/src/controllers

Hope this helped. Best! Nadia