Add support for F/T sensor payload ID #24
Draft
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
nepfaff
commented
Mar 20, 2024
| trajectory_source.get_output_port(), | ||
| arm_controller.get_input_port_desired_state(), | ||
| ) | ||
| # controller_plant = MultibodyPlant(time_step) |
There was a problem hiding this comment.
Need to clean this up properly. None of this is used atm.
nepfaff
commented
Mar 20, 2024
robot_payload_id/data/joint_data.py
Outdated
| X_FW = X_WF.inverse() | ||
| R_FW = X_FW.rotation() | ||
|
|
||
| # spatial_jacobian = plant.CalcJacobianSpatialVelocity( |
There was a problem hiding this comment.
This isn't working yet. Need to find/fix the issues and clean it up.
nepfaff
force-pushed
the
ft_sensor_payload_id
branch
from
d6b8e96 to
0ea3e86
Compare
nepfaff
force-pushed
the
ft_sensor_payload_id
branch
from
ee2ff42 to
27ea298
Compare
nepfaff
force-pushed
the
ft_sensor_payload_id
branch
from
27ea298 to
381d482
Compare
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
No description provided.