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Tactile clean #233
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Tactile clean #233
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…gging comments related to the initial velocity
Let me point out the followings:
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I am sorry for my very late reply. I was going to write earlier but then got busy and forgot to reply. Sorry for that. After submitting the Pull Request I found that there were some improvements that needed to be done to the code and now there are still some bugs that I still have to fix, besides modifying it to account for the fact that OpenRTMPlugin is now independent. Can we have this Pull Request pending? or would you prefer me to close it and re-open it later once I have fixed the bugs? In the following I provide more detailed information: The simulated tactile sensor of the Pull Request requires the plugin ContactForceExtraction
The discretization works as follows:
The tactile information is published through the RTC of the robot: This information tries to resemble the data provided by the tactile sensors that we recently developed for HRP-5P and which are implemented as FSR matrices. |
I'm sorry for my late replay, too.
OK, I will put this pull request on hold. Please note that you have to improve the code so that it can work with OpenRTMPlugin, which is the external plugin now. Thank you for your cooperation in advance. |
Thank you for waiting... |
Simulates a tactile sensor by providing extracted contact forces.