Added possibility to directly control the arm using an ArmVelocityCommand #104
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MGBla
requested review from
jbarry-bdai,
heuristicus and
amessing-bdai
as code owners
spot_wrapper/spot_arm.py
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| arm_velocity_command2 = arm_command_pb2.ArmVelocityCommand.Request( | ||
| cylindrical_velocity=arm_velocity_command.cylindrical_velocity, | ||
| angular_velocity_of_hand_rt_odom_in_hand=arm_velocity_command.angular_velocity_of_hand_rt_odom_in_hand, | ||
| cartesian_velocity=arm_velocity_command.cartesian_velocity, | ||
| end_time=end_time, | ||
| ) |
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Why do you copy the request to arm_velocity_command2 here?
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oh now I see that you modified the end time.
Could you not do something like this?
new_end_time = . . .
arm_velocity_command.end_time = new_end_timeThere was a problem hiding this comment.
Well I obviously tried that first but the internal protobuf message prevented me from doing this. Not sure why exactly but if you have a workaround I would be happy to streamline this.
khughes-bdai
reviewed
Jun 3, 2024
khughes-bdai
reviewed
Jun 3, 2024
khughes-bdai
requested changes
Jun 4, 2024
|
Thanks for the update. Potentially, this provides another way to teleop the arm, since the current teleop uses a position command, but we could use the velocity command directly. The behavior around singularity and joint limits might be something to check once this PR gets merged. |
Co-authored-by: Katie Hughes <[email protected]>
Co-authored-by: Katie Hughes <[email protected]>
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Change Overview
Added the ability to set a Velocity command for the arm. This enables a user to have direct translational and rotational control of the TCP movement using a controller or any other input device. The corresponding PR on the driver Repo provides a topic interface to send the corresponding movement command.
The angular and Cartesian velocity were thoroughly tested during operation on our spot. For the cylindrical velocity I performed some basic tests but didn't evaluate over hours as the other two input methods since I don't really use them in this reference frame.
Testing Done