Comments (1)
Related to this is the case when using BaseActive
or Cob4Torso
extension together with one of the arms:
In case the arm is almost stretched out (=close to singular configuration?), it is not possible to "push" the arm back into a more bended configuration (=higher manipulability). In such case the whole motion is executed by the base only (BaseActive
) and the torso starts to move really wild (Cob4Torso
)...
Can this be solved by some kind of bias or "dynamic extension_ratio" (in comparison to using a constant value for it)? E.g. calculate the extension_ratio as a function of some metric...
Maybe we also need to investigate again the Damping
in case kinematic extensions are enabled! Don't know whether the damping is applied for the "extended kinematic" (arm + base/torso) or only "main component" (arm)
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Related Issues (20)
- [cob_footprint_observer] new node providing "safety stop" functionalities based on observed footprint HOT 1
- [kinetic][cob_collision_velocity_filter] Could not get robot pose HOT 5
- remove cob_undercarriage_ctrl_node HOT 1
- [cob_omni_drive_controller] Insights and findings from steer behavior tests HOT 1
- [cob_omni_drive_controller] Investigate wheel-multi controller HOT 1
- [cob_twist_controller] refactor constraints/GPM code HOT 4
- [cob_twist_controller] refactor config structure HOT 1
- Compability with ur_modern_driver HOT 2
- cob_cartesian_controller: How to start ? HOT 2
- cob_omni_drive_controller fails to compile with newer urdf versions
- [cob_omni_drive_controller] controller keeps sending commands when it shouldn't HOT 2
- Cob_trajectory_controller terminate after 'std::out_of_range' HOT 1
- How to use the cartesian_controller
- Release for melodic HOT 1
- [cob_omni_drive_controller][cob_tricycle_controller] wheel_commands get calculated and sent while base is in emergency state
- Noetic release HOT 5
- [cob_collision_velocity_filter] cannot use frame other than a robot attached frame as collision costmap global frame.
- [cob_obstacle_distance] does not build with cmake_build_type=Debug
- [cob_base_velocity_smoother]error: input got inactive
- Migration to ROS2 HOT 2
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