Inverse Kinematics

[halBRY]

To use the arms, we are going to need some kind of Inverse Kinematics Solver. Currently, we are using the Lula IK Solver in Isaac Sim. Other options include MoveIt2 with ROS2, or implementing our own IK in Unity. With the Isaac Sim method, we will need to do extra data sharing to update the visualization of the arm(s) in the user interface.

[athenaangara]

ROS2 Moveit cannot open the URDF file of any of the robotic arms. At the moment the sessions ends once I try to open any of the URDF files.

[halBRY]

MoveIt 1 with ROS 1 on the ER arms works as expected.

[halBRY]

We may need to write a custom ROS controller to enable VR IK manipulation

[halBRY]

Unity-based IK is now functional, though it doesn't include orientation control like Isaac Sim does.

[halBRY]

Closing for now because minimal functionality has been achieved.

[halBRY]

Reopening, we've discovered an issue where the angles produced from the Unity IK orient the virtual and physical arms differently.