Kinesthetic demonstration collection

[mohanksriram]

Summary

We need collect kinesthetic demonstrations using the gen-3 lite robot

Use case

To collect new demonstrations of the robot doing different tasks

Do you have an idea how on how best to implement this enhancement? Normally, we reduce the gains of the robot joints to allow smooth guidance during kinesthetic demo collection

Additional context

I just wanted to know what gains we need to use to be able to easily move the robot arm to collect a demonstration!

[felixmaisonneuve]

Hi @mohanksriram,

Can you be more specific on what your are trying to do?

From what I understand, you are trying to do admittance control (the arm moves based on how you physically "push" the arm). The Gen3-lite provides 2 admittance mode : Cartesian and Joint admittance.

I wouldn't recommend changing joint gains since it could lead to weird behaviour unless you know exactly what you are doing.

Best, Felix

[martinleroux]

I will be closing this issue due to inactivity, but before I do so, I want to clarify that Felix actually made a mistake in his answer above - since Gen3 Lite does not have torque sensors, the Admittance modes that are on Gen3 are actually not available on Gen3 Lite.

Should you wish to discuss your need further, please contact us at support@kinova.ca. I would rather not have an issue open on this topic since it does not concern either the API or the examples provided in the repo.

Cheers