At this stage, the forque enclosure is relatively heavy, and has some degrees of freedom (e.g., looseness) in the gripper and arm mount. As a result, the robot's URDF no longer matched the real robot's geometry. This PR addresses that.
Note that until we mostly constrain all degrees of freedom (WIP), we will likely have to keep doing this. Thus, I wrote instructions in the wiki on how to do this tuning.
This PR is linked with ada_feeding#202, which has some commented out code that can help with addressing off-center issues moving forward.
Testing
[x] Acquire 4 bites of food (around 1cm x 2cm each) distributed around a plate in various orientations. Verify that all are succesfully acquired.
Description
At this stage, the forque enclosure is relatively heavy, and has some degrees of freedom (e.g., looseness) in the gripper and arm mount. As a result, the robot's URDF no longer matched the real robot's geometry. This PR addresses that.
Note that until we mostly constrain all degrees of freedom (WIP), we will likely have to keep doing this. Thus, I wrote instructions in the wiki on how to do this tuning.
This PR is linked with
ada_feeding#202, which has some commented out code that can help with addressing off-center issues moving forward.Testing