Comments (1)
AvoidObstacles
is a null space controller, meaning it functions in the redundant space of the encompassing controller, in this case OSC. We have not implemented any way of integrating this into a path planner. You can read about how this obstacle avoidance works from the original paper here.
You should still be able to plan your trajectories and use the obstacle avoidance with the controller. The path planner will set targets that move the arm in a straight line, but it will diverge from that if need be with the avoidance controller.
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Related Issues (20)
- Add a warning when the joint state is ignored by mujoco_config
- AttributeError: 'MjViewer' object has no attribute 'exit' HOT 1
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- Non-linear trajectory issue HOT 6
- config.py file for UR5e
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- What is the effect of dt in your expressions? HOT 4
- Can I download those mesh and texture files directly? HOT 2
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- ask for reference about the controllers HOT 3
- Dynamics Adaptation using hardcoded Tau and dt values HOT 2
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- MujocoConfig Error HOT 3
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