Christoph Pohl authored 1 year ago and Christoph Pohl committed 1 year ago

Merge branch 'feature/armar-de' of git.h2t.iar.kit.edu:sw/armarx/skills/control into feature/armar-de

Adjusted CPU pinning in the RTUtility and BusIO modules to correctly fix the CPU indices. Earlier, the threads were erroneously always pinned to CPU 0. This adjustment facilitates distributing the load among multiple cores, improving overall system performance. The BusIO's requestHandlerLoop thread is now pinned to CPU 1.

# Conflicts:
#	source/armarx/control/ethercat/Bus.cpp
#	source/armarx/control/ethercat/ErrorReporting.cpp

Resolve "Add stop-on-force-threshold behavior to TaskSpaceDMPController"

Closes #26

See merge request !45

Enabled force stop in DMP controller by using force measurements from the force sensor. If force exceeds the given force threshold while DMP is running, the DMP execution is stopped. Also added additional features in ControllerInterface.ice and DeprecatedNJointTaskSpaceDMPController.h, including waitTimeForCalibration, isDMPRunning, enableForceStop, and disableForceStop functionalities.

Implement RelaxHand-skill

See merge request !44

Refactoring: SimpleShapeHand-skills for dedicated open/close skills + documentation

See merge request !43

Signed-off-by: jianfeng <jianfeng.gao@kit.edu>

fix: Error messages printing floating points as decimals, resulting in weird outputs (negative durations, etc.)

Implement 'ShapeHand'-skill

See merge request !40