I checked euler angles and quaternion for these two states and it was correct. The quaternion of rotation around z would be multiplied by initial...
Hi, I have a robot and do FK and then use the Eigen library and convert the rotation matrix to quaternion. Here are the results: x-axis: red...
Thank you for your answer. Yes that's true. I use motor tag with gear=1. then set the d->ctrl value using controller. When I use controller in...
Hello, I want to implement an impedance controller in task space for my robot. But when I set the d->ctrl signals to d->qfrc_bias, I see movement...
I put a lot of time on this and have a problem yet. Based on what you said, I cannot subtract a constant value from force/torque readings. I...
Hello, I have a class for my robot and want to use it in my controller callback. How can I do that? I mean is it possible to pass other variables...
Thank you for your response.
The franka panda robot has 7 torque sensors in its 7 joints and their output is 7 scalar values (not 3 values). The force control code that they...
Thank you for your quick response. My sensor is between two arm links in a joint before the end effector. You mean it measures the weight of the...
Hi, I put one force and one torque sensor in the wrist of my robot and when I read the data and multiply it by transformation matrix to transform...
Does anybody have any idea about the value of fz? why it is about 12? I think it has to be 0. I just read the data from the sensor.
I guess I found the solution, but I'm not sure. I put a force sensor and a torque sensor in the wrist of my robot and read 6 values. Based on...
Did you guys find any solution?
Hi, I added 7 torque sensors in joints of my robot (arm- panda) and when I read the values (7x3), all of 3 values for each sensor varies through...
Hey, I'm trying to do inverse kinematic for panda robot in Mujoco then test it on the real robot. I calculate the Jacobian and when I check it...
I have the model of my robot in mjcf format and want to use moveit to setup controller and trajectory planning, but moveit_setup_assistant cannot...
Torque control is common to control a robot arm. you can feedback theta from the arm and calculate the error, then apply a PD controller to...
I think this is not correct. you can set the qpos in mujoco-py and the robot will move in simulation, but the correct way to control the robot is...
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