- Define custom hrdf
- Get an xacro file with urdf_generator.py
- Use the MoveIt setup assistant to generate a config package. (thoroughly examine the allowable collision matrix to ensure there will not be unintended self collisions)
- Ensure everything works well in simulation
- Create gains and params files for real world control
However, there are instances where the arm crashes into itself, not following the MoveIt trajectory at all. (video here)
These videos was taken the day before lockdown. I thought maybe my gains were just off, so I continued to work on the robot in simulation, adding collision objects to the planning environment and incorporating joystick control. However, the collision issue still persists upon returning to the lab.
It seems the Hebi robot is not following trajectory actions very closely if at all. After tuning gains, the robot behavior is certainly better but it still crashes into itself occasionally.
Other kits have just one elbow joint which makes collisions less likely. However, I'd like to be able to fix this issue in software if possible. Any advice?