Week-1
Robotics-Simulation PartMy goal is to export data from haptic robots, put this data on a node between Linux and ROS2, and then use the ROS2 bridge. With this bridge, I can read the data of the robot in a simulation. With this loop, I can control and teleoperate the robot in real life and simulation. Firstly, I have tried to operate IsaacSim on ROS2. It can work without ROS2, but for working with additional robots, ROS2 is important. I couldn’t succeed (I am not used to using Linux) at first. ...
Week-2
Robotic-Simulation PartIn the first week, I recorded the robot’s tip position as (x,y,z)(x, y, z)(x,y,z). However, this approach had some problems:According to kinematic rules, the robot’s end-effector can reach the same point with different configurations of its joints.For the simulation, we need the exact pose (position + orientation) of each component, not only the tip position.Because of this, I changed the coordinate system from purely Cartesian to a more spherical-like representation. N...
