grl
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ahundt
Robotics tools in C++11. Implements soft real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning, Hand Eye Calibration and Inverse Kinematics integration.
From https://github.com/jrl-umi3218/Tasks/issues/10 1. make sure gravity is going the right way, RBDyn seems to have Y as up, I use Z as up. 2. Initialize the QPSolver once in the...
Currently switching between 'TeachArm' and 'MoveArmJointServo' is problematic... it makes the robot jump to the position of the previous mode, and does not consider the current position... I would like...
some code is being copy pasted in the simulations and it is becoming unwieldy. Plus, additional lua glue will be needed for inverse kinematics. Create a small lua library to...
[V-REP discussion of integrating custom Inverse Kinematics](http://www.forum.coppeliarobotics.com/viewtopic.php?f=9&t=3967) [v-REP discussion transferring data between plugins](http://www.forum.coppeliarobotics.com/viewtopic.php?f=9&t=3995)
I am using grl_Software_Manual (https://ahundt.github.io/grl/_downloads/grl_Software_Manual.pdf) windows operating system (windows1064bit) and install Cygwin64 Terminal. When i enter this command (git clone https://github.com/ahundt/grl.git) the following error appear. -bash: git: command not found...
https://github.com/ahundt/grl/pull/131 Looks like we now have a place to acquire the 1.6 jar: http://repo1.maven.org/maven2/com/github/davidmoten/flatbuffers-java/ https://github.com/davidmoten/flatbuffers Should likely add instructions for acquiring the jar in the setup docs.
I've had a request for code cleanup, so I wanted to lay out the steps necessary to incorporate such a change. At this point I've generally prioritized accepting contributions over...
Homebrew may be a good way to create automated install/releases with packaging. There are several possible approaches that might be taken based on existing available utilities used by various projects....
The plugin crashes when I switch to ArmState_MoveArmJointServo. Maybe it is good to have additional check on commandedPosition_goal at https://github.com/ahundt/grl/blob/master/include/grl/kuka/KukaJAVAdriver.hpp#L254 ` !!decoding error: missing required field!! commandedpos:[] terminate called after...
