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skywoodsz / qm_control

Quadruped manipulator controller using model predictive control and whole body control based on OCS2
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robot fails to initialize while links' collision is added #9

Closed SkyGuoGary closed 9 months ago

SkyGuoGary commented 9 months ago

Thanks for your open source! This is such a great project that I wanna use it to finish more complex tasks. However, when I try adding the collision of the links of the robotic arm, it seems that the end effector couldn't reach the target pose while initializing. I have inputted these 3 command in proper order:

roslaunch qm_gazebo door_world.launch roslaunch qm_controllers load_controller.launch rosrun rqt_controller_manager rqt_controller_manager

Then the robot keeps wobbling. More details are in the video below. This would not happen when I don't set the col=TRUE in kinova_common.xacro.

2024-01-10 23-39-59 的屏幕截图

https://github.com/skywoodsz/qm_control/assets/125889716/9bf20799-8288-4e94-8ae1-682c6cabcaf9

Do you know how to solve this problem?

skywoodsz commented 9 months ago

@SkyGuoGary

Why don't you contact me by WeChat directly?

A simple solution is only adding collision property to the end-effector of the manipulator. Or you can use the MPC-Only interface to control the robot.