Feature/impedance control #533
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LuigiPenco93
commented
Dec 13, 2024
| @@ -380,22 +380,15 @@ public void executeDesiredArmCommand(RobotSide robotSide) | |||
| RDXBaseUI.pushNotification("Commanding arm jointspace trajectory..."); | |||
| communicationHelper.publishToController(armTrajectoryMessage); | |||
| } | |||
| case TASKSPACE -> | |||
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removed taskspace without joints, as this is not the right way to control the arm and it's never worked.
As an external user, I want to either control the arm in jointspace or taskspace, with or without impedance control. The fact that the taskspace control is using a hybrid message shouldn't concern the user
| @@ -31,6 +44,41 @@ public HandHybridJointspaceTaskspaceTrajectoryCommand(RobotSide robotSide, boole | |||
| this.taskspaceTrajectoryCommand.set(taskspaceTrajectoryCommand); | |||
| } | |||
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| public HandHybridJointspaceTaskspaceTrajectoryCommand(RobotSide robotSide, boolean forceExecution, SE3TrajectoryControllerCommand taskspaceTrajectoryCommand, | |||
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these messages are not used for now, but will when replaying back or using a planner that can provide the gain trajectories and feedforward trajectories
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Reference to impedance controller in TU/e paper:
Quadratic Programming-Based Reference Spreading
Control for Dual-Arm Robotic Manipulation With
Planned Simultaneous Impacts