DDP controller does not generate a stable rollout. about ocs2 HOT 4 CLOSED

We have extended the mobile manipulator example to many different commercially available robotic arms. This feature is under review and will be merged soon. I will post on this issue once the feature is incorporated.

from ocs2.

Hi, I'm facing a similar issue trying to integrate the PR2 robot. Do you maybe have an update on the integration of these arms @farbod-farshidian ? It would be very useful to see some more examples.

A second question I am facing is how to incorporate joint limits for a new robot? I could not find any example of this for the existing robots. While the mobile manipulator docs mentions it, it only implements joint velocity limits. Do I add this with an additional StateConstraint?

from ocs2.

A second question I am facing is how to incorporate joint limits for a new robot? I could not find any example of this for the existing robots. While the mobile manipulator docs mentions it, it only implements joint velocity limits. Do I add this with an additional StateConstraint?

It would be best if you do this through a StateConstraint. You can then add this as a soft constraint with DoubleSidedPenalty.

from ocs2.

We have now updated the mobile manipulator example with joint position constraints as well as more robotic examples. These include the Franka Panda arm, the Kinova Jaco2, PR2, and Clearpath Ridgeback with the UR5 arm on it. Please check the documentation on how to run these:

https://leggedrobotics.github.io/ocs2/robotic_examples.html#mobile-manipulator

As a heads up, since we don't have these robotic platforms, we have not tested them outside of the dummy simulation node. We happily welcome contributions to it! :)

from ocs2.