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Repository Summary
| Checkout URI | https://github.com/lbr-stack/dynamic_parameter_identification.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-06-30 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| gravity_compensation | 0.0.0 |
README
Gravity Compensation
This is a repo for identification of robotic dynamic parameters including mass, inertia, friction, center of mass.
Currently, the code can only support revolute robots with fixed base. (Also theoretically support 6Dof robots).
The code has been tested on KUKA LBR MED R700 robot / XArm and Ubuntu 22.04 (ROS2 Version: Humble).
The dependence of the libaray includes:
- sudo apt install python3-pip
- install optas refer to https://github.com/cmower/optas
- pip3 install numpy==1.26.1
- pip3 install open3d==0.17.0
- pip3 install pybullet
install lbr_fri_ros2 refer to https://github.com/lbr-stack/lbr_fri_ros2_stack
install xarm_ros2 refer to https://github.com/xArm-Developer/xarm_ros2/tree/humble
CONTRIBUTING
No CONTRIBUTING.md found.
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