dual_arm_control

Dual arm controller

The dual arm control cpp library and the corresponding python bindings

Dependencies

The main dependencies are the following ones:

• CMake: Build system
• Eigen: A library for linear algebra, version 3. (https://eigen.tuxfamily.org)
• sg_differentiation: A package implementing Savitzky-Golay smoothing and differentiation. (https://github.com/epfl-lasa/sg_differentiation , branch cmake)

File hierarchy

The file system is divided in several subfolders:

• include: contains class header files
• LearnedModel: contains parameters of learned inverse throwing model
• src: contains class implentations and source files to instantiate them:
  • DualArmFreeMotionController: A class used to generate the uncontrained coordinated motion of the dual arm robot
  • DualArmCooperativeControllwe: A class used to generate the grasp and manipulation wrench of the dual arm robot
  • DualArmControl: A class that uses the two previous classes and generates both the coordinated motion and forces commands to be sent to the robot

Installation

To install the cpp library:

mkdir build && cd build && cmake .. && sudo make install

To build the python binding, the cpp library needs to be build first:

cd python_binding/build && cmake .. && make -j