search

robotology / cer

Contains SW specific to the R1 robots
GNU General Public License v2.0
10 stars 13 forks source link

Add modules for mobile reaching #107

Closed jchevrie closed 5 years ago

jchevrie commented 5 years ago

This PR adds new functionality for mobile manipulation tasks. It enables finding an optimal robot base pose and robot joint positions to reach one or several targeted end effector poses.

It adds new modules in the folder modules/mobile-reaching/ as well as a corresponding new library in libraries/cer_mobile_kinematics. Note that the new library depends on the existing files in libraries/cer_kinematics/ for the robot kinematics (to avoid duplicates and ease maintainability).

The structure is similar to the reaching modules: one solvermodule to solve the optimization problem and one controller module to interface with the user and the other navigation modules. For more details on the modules see modules/mobile-reaching/README.md.

Since it is a new functionality, it doesn't break anything already present in this repo. The only change is the addition of a new configuration name torso_yaw_no_heave in libraries/cer_kinematics.

jchevrie commented 5 years ago

Hi @pattacini Sorry, I missed your previous comment.

It should be possible to move this change out of 'cer_kinematics' by copy/pasting the file and by modifying the namespaces accordingly. I just wanted to avoid duplicating too many files and reuse as much as possible to ease maintainability.

I will have a look at it and do the modification if it is not already done.

pattacini commented 5 years ago

Hi @jchevrie 👋 Hope you're doing well! Never mind, everything's already done in https://github.com/robotology/cer/commit/0999a56dc06c297451ecd6b735d24d9c142a34ee.