Trying to mimic simple_joint_control example using a custom robotic arm, consisting of Dynamixel Servos(XM430-350R). Mostly working on Driver part and not the simulation. We’re able to recreate the ipython slider, but failing to control the arm using it.
A gist of errors we’re facing right now,
- Lqr failed to find trajectory
This is when, we pass both Target Joint Position & Speed to LQR from JointControl Codelet.
- failed to parse starting speed
If we only pass in Target Joint Position, this shows up.
- Angle Limit & Overload Error
Not sure what’s exactly causing this.
We passed both 1d & 2d arrays with “values” to LQR Subgraph(values=[position, speed]), but we’re getting above errors. What’s should Driver’s Message(CompoisiteProto) i.e size and format look like, while passing initial joint state & position to LQR Subgraph?
So @nvidia, can you give some pointers on how should one solve this?