Feature Type
Adding new functionality to the project
Problem Description
The Reach datasheets describe the dynamics of the manipulators using Solidworks conventions. This is problematic for ROS-based software, which expects a different convention
Feature Description
I started implementing a script in scripts/transform_parameters.py to perform the transformations so that the URDF file can be populated with the correct values. This still needs to be completed. At the moment, I think it would be easiest to just print out the recomputed values.
Alternative Solutions
A cleaner solution would be to take a template file as an input and automatically populate the URDF with the computed values. This would make debugging and re-generating the parameters easier.
Additional Context
No response
Feature Type
Adding new functionality to the project
Problem Description
The Reach datasheets describe the dynamics of the manipulators using Solidworks conventions. This is problematic for ROS-based software, which expects a different convention
Feature Description
I started implementing a script in
scripts/transform_parameters.pyto perform the transformations so that the URDF file can be populated with the correct values. This still needs to be completed. At the moment, I think it would be easiest to just print out the recomputed values.Alternative Solutions
A cleaner solution would be to take a template file as an input and automatically populate the URDF with the computed values. This would make debugging and re-generating the parameters easier.
Additional Context
No response