petercorke / petercorke/robotics-toolbox-python
mimic joint support
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- C++
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Description
The xacro file I have for a custom robot is ROS has a mimic joint where it inverts joint motion for its counterpart. I'm trying to use the same robot model here and try the mmc and resolved rate motion planners. Is there a support for mimic joints? So far, I can call rtb.model.myrobot() and spawn the robot in the swift simulator. When I try the RRMP, however, it seems not to care about the mimic joint. Any suggestions?
thanks
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by reproducing the issue with rtb.model.myrobot() in the Swift simulator, then compare the MMC and resolved-rate motion planners on the custom robot model. Check how the xacro mimic joint inverts its counterpart's motion and determine the expected planner behavior. Done means mimic-joint constraints are respected by the relevant planners.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- python
- Domain
- robotics
- Issue type
- Feature
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 25/100