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generic IK controller #12
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Beware, you committed a binary |
Also, it would be nice to include a README.md to explain the purpose of this controller and how it is supposed to work (with an example of robot). Ideally you should add a demo world file as well. |
.pyc is in gitignore... ohhh because of manual upload. And yes, I can add that |
Should be done now. I seperated the generic controller from the ik_module and the target_spawn module. This way, people can very easily use this ik_module in their own code with these 3 lines:
So it get's decoupled, from where the target_pos and optionally target_rot comes from |
now it's pretty clean, well commented and error robust (at least in my testing). |
I found a weird issue. when running the generic controller for the first time, it crashes. Resetting the simulation fixes it. And after that it doesnt occur again |
Also there is issues with robotic arms that have grippers included. We'll have to find a way to, ideally, automatically exclude those, or at least detect and prompt the user to manually define which links to use |
active_links[i] = link_name in self.motor_names or link_name in self.sensor_names | ||
if active_links[i]: | ||
# ikpy includes the bounds as valid, In Webots they have to be less than the limit | ||
new_lower = self.armChain.links[i].bounds[0] + 0.0000001 |
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If bounds are None
, that throws an error
I fixed the None bounds issue. However, there is still an issue on the ikpy side, when having a joint with torque or velocity limits, but no position limits. I made a PR on their side, hopefully it get's implemented soon. |
This PR is very old. Shall we review it again now that Phylliade/ikpy#94 is merged or shall we close it? |
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