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Add Standalone Teleoperation Script to standalone Directory #4

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5 of 6 tasks
siddk opened this issue Jul 20, 2022 · 0 comments
Open
5 of 6 tasks

Add Standalone Teleoperation Script to standalone Directory #4

siddk opened this issue Jul 20, 2022 · 0 comments
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@siddk @e-corwin
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core-capability Core feature to be added to the codebase (high-priority) enhancement New feature or request
Milestone
Standalone Core C...

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@siddk
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siddk commented Jul 20, 2022 •
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In order to support both a package-based installation and separate standalone scripts (in scripts/standalone/), implement a basic linear/angular joystick controller.

Use this issue to log particular problems:

  • Try teleoperation on top of Polymetis cartesian_impedance_controller()
  • Understand issues with Polymetis cartesian_impedance_controller() and teleoperation...
  • Try the underlying OSC controller (move_to_ee_pose)
  • Write a simple Resolved-Rate controller --> this ended up working well!
  • Tune joint velocity gains (linear feedback control) to prevent jittering.
  • Align joystick axes --> natural end-effector axes (from "base" ILIAD frame -- standing behind robot)
@siddk siddk added enhancement New feature or request core-capability Core feature to be added to the codebase (high-priority) labels Jul 20, 2022
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@siddk siddk

@e-corwin e-corwin

Labels
core-capability Core feature to be added to the codebase (high-priority) enhancement New feature or request
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Standalone Core Capabilities (Fixed E...
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@siddk @e-corwin