felixmaisonneuve
commented
1 year ago 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
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!