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robotlearn / pyrobolearn

PyRoboLearn: a Python framework for Robot Learning
Apache License 2.0
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The problem of subscribing the topic which is published through ros to realize the force control #27

Closed TFLQW closed 4 years ago

TFLQW commented 4 years ago

I hope to get the force and torque information reciving from Ati senors in the simulation environment. But in your package is hard to realize. But I have found a package which can measure the ft information, but the topic is published in gazebo. So I want to know how could I let the robot model in your environment stay the same as the robot environment in gazebo meanwhile passing the force/torque measurement from gazebo into your environment to realize the force control.

TFLQW commented 4 years ago

I try to measure the end-effector force and torque 6D information

TFLQW commented 4 years ago

@bdelhaisse I know maybe you are busy these days, but I really hope you can help me solve this problem I have found the force/torque measurement function using the sensor.JointForceTorqueSensor class to get the 6D information. I use this function: FT_sensor = sensors.JointForceTorqueSensor(sim, body_id=robot.id, joint_ids=7) (why using the joint_ids=7 is besides the ur 6 joints[0~5], I add the ati model and peg model, the ati-peg joint is number 7) FT_sensor.sense() But I found a problem that if I set the mass of the UR (for example) 3 wrist links to 0.0, and also my additional end-effector peg and ati model. but in the picture position, the force is along x axis not zero is about 6N. x axis is vertical to the ground. 1 2

best wishes