New URDF Path for robot in PField workspace #1
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…se_cls file; updated instructions
Taken pinocchio code written in collab by stanford group and integrating it into jparse_cls.py; need to correctly load the urdf -- left notes in xarm_vel_main_experiment.py for things to try Opened an issue for example_robot_data repo that is linked to pinocchio for easier loading of the urdf (asked if they can add the xarm robots) Cleaned the code up and reorganized it -- removed unnecessary functions not need in ROS 2 port
- robot is able to receive commands to home the robot - still need to test the jparse provided by Stanford group - needed to lower controller manager parameter in xarm_ros2/xarm_controller/config/xarm7_controller.yaml from 150 to 50 because computer could not keep up - lots of edits made to work for ros2 as well
… stopping when not issuing a command
…ve when no button is pressed
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Using Example Robot Data repo for URDF file.
TODO
Left a TODO to remove this URDF path and use pinocchio function for robot data instead of relative path to public repo