feat: add Pinocchio model backend for Gazebo simulation support#226
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AkshayArjun wants to merge 1 commit into
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feat: add Pinocchio model backend for Gazebo simulation support#226AkshayArjun wants to merge 1 commit into
AkshayArjun wants to merge 1 commit into
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Add a RobotModelInterface abstraction that allows model_example_controller to run in both hardware (FCI) and simulation (Pinocchio) modes, toggled via a 'gazebo' parameter in the controller YAML. New files: - robot_model_interface.hpp: abstract base class - robot_model_franka.hpp/cpp: FCI backend (wraps FrankaRobotModel) - robot_model_pinocchio.hpp/cpp: Pinocchio backend (computes from URDF) Modified: - model_example_controller.hpp/cpp: use RobotModelInterface polymorphism - CMakeLists.txt: add new sources and pinocchio dependency - franka_gazebo_controllers.yaml: add gazebo param for model_example_controller Resolves frankarobotics#217
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Add a RobotModelInterface abstraction that allows model_example_controller to run in both hardware (FCI) and simulation (Pinocchio) modes , toggled via a 'gazebo' parameter in the controller YAML.
New files:
Modified:
Resolves #217