~~Do check on the robot with out any end-effector ! ~~
steps:
- Do only with the manipulability !
- Do check the value of wrench uncertainity.
- Do with the full opti function
~~- record rosbag for ext torques ~~
-
compute covariance matrix !
-
re-implement and check !
Tried to check tau_cmd - tau_ext --- Nothing found coz both are equal and opposite in every condition.
Just check how much torque is off !
force_estimator node working, :
Computes Wrenches wrt base ! using RBDyn library (for jacobian) and using commanded torques (simulation)
Cubic_p2p.py Node working: Verified in Gazebo!
Computes cubic trajectory (q(t)) for the PositionController mode of the robot.
trapezoidal_p2p.py:
Computed trapezoidal trajectory. CURRENTLY COMPUTING WRONG!
Moveit_joint_position.py:
Moveit needs to launch that uses PositionTrajectoryController mode. This node is also initiated using a launch file, that should be defined in the launch folder. (Launch after moveit launch!)
optimize_test_no_file_sim/real : there is a change in `cartesian_damping_factors` and `cartesian_damping` between real and sim.
similarly: for nullspace