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Giraffe in sim #173

Merged
merged 14 commits into from
May 27, 2024
Merged

Giraffe in sim #173

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963f638
wrist calibration:added automated quat2euler & input rot/tra to .xacro
luceharris Oct 11, 2023
f97e95b
black formatting
luceharris Oct 11, 2023
de1b799
black formatting
luceharris Oct 11, 2023
70d989f
removing git artifacts
luceharris Oct 11, 2023
a3854bd
adding test move package to move panda arm in sim
luceharris Oct 15, 2023
9b8150b
broken panda urdf
luceharris Nov 13, 2023
0c157c2
moveit assistant for giraffe
luceharris Nov 27, 2023
0d9dc20
b4 master changes update
luceharris Dec 14, 2023
9f66be7
updated with master
luceharris Dec 14, 2023
bba3a93
giraffe moveit config, works in sim
luceharris Dec 18, 2023
9b2079b
now moma_corner works, and wheels turn
luceharris Dec 18, 2023
da34eda
adding giraffe launch to moma, and cleaning up
luceharris Dec 18, 2023
519ec78
changed location of xacro
luceharris Feb 8, 2024
13fa65f
adding ground truth from odom
luceharris Apr 15, 2024
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1 change: 1 addition & 0 deletions .gitignore
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Expand Up @@ -21,6 +21,7 @@ venv

# Catkin stuff
CATKIN_IGNORE
compile_commands.json

# Files that will be auto-generated on compile
moma_demos/grasp_demo/config/yumi/gpd.cfg
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11 changes: 11 additions & 0 deletions moma_bringup/README.md
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Expand Up @@ -2,3 +2,14 @@

This package contains launch files to start interfaces with the real robots.
See the [wiki](https://github.com/ethz-asl/moma/wiki/Robots) for more information about our platforms.
### Running handeye calibration (currently only in sim)

Spawn the panda robot which contains an april tag:
```console
roslaunch moma_gazebo panda_moma_corner.launch
```

Then launch the interactive calibration planner:
```console
roslaunch moma_bringup move_group_sphere.py
```
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