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TODO.md

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  • I had to adapt the URDF model in order to fit the actual robot. This is described in jaco_arm/jaco_description/README.md. The meshes around the finger bases are not well fitted. Designing new meshes it part of future work.
  • New implementation of DefaultRobotHWSim could be used to replace/supplement JacoGazeboJointControl classes.
  • Migrate trajectory execution and joint controllers to more robot-general and create Jaco adapters/specific implementations.

jaco_gazebo:

  • the joint velocities still do not correspond to the ones set, it only fluctuates around the target value. Tried fine-tuning PID gains to no avail. So far, using Joint::SetVelocity() is the best solution found so far, both on Indigo and Jade. But it should be made to work with SetForce() at some stage, and the values should be stabilized (e.g. a joint rotating towards/against gravity should always meet the target velocity v, with a low error margin around v).

jaco_joints:

  • JacoTrajectoryActionServer can be improved to read tolerances from FollowJointTrajectoryAction, after recent migration from JointTrajectoryAction.
  • change function to use architecture_binding in JacoJointManager: capToPI(), angleDistance()

Possible future contributions

gazebo: - the higher-level controller with position and velocity - a program which helps find PID values, either with neural network or Ziegler-Nichols method