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HebiRobotics / hebi-matlab-examples

Examples for the HEBI Robotics API for MATLAB
http://docs.hebi.us
Apache License 2.0
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Add gas spring compensation to 6 dof basic example? #63

Open iamtesch opened 6 years ago

iamtesch commented 6 years ago

In the robot 6 dof example in the "basic example" folder, it assumes no gas spring:

https://github.com/HebiRobotics/hebi-matlab-examples/blob/master/basic/x-series_actuator/ex7b_robot_6_dof_arm.m

This doesn't match our default 6DOF kit, and can lead to odd behavior in the case that this is run on a system with such a spring (b/c we are actively controlling efforts).

Should we make this a note somewhere in the file? Or add gas spring compensation by default?

daverolli commented 6 years ago

For the purposes of basic examples I prefer not getting into effort offsets, so adding a comment that the gas spring is off would be good.

I think the default we shoot for is that kits come with a gas spring, but I'm not sure its better have it installed by default. I think its import to still build in support for it, but the need for a spring out of the box decreased a lot now that we have the X8-16.