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Woolfrey / software_robot_library

Custom classes for robot control.
GNU General Public License v3.0
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Finish test script for joint torque control #117

Closed Woolfrey closed 1 month ago

Woolfrey commented 6 months ago

Hey @ssutjipto, see the related issue #116. This would be a good milestone before testing the Cartesian control, and before moving on to the real robot.

When I've completed the accompanying Python script we can plot the results here.

ssutjipto commented 4 months ago

@Woolfrey I haven't had a chance to look at any of the output data since testing the joint torque control, but, here's a video of the Sawyer being torque controlled. It moves from a random start to the zero position of the robot. Sorry about the low quality video, it had to be compressed to under 10MB https://github.com/Woolfrey/software_robot_library/assets/34139994/cc8c7714-265b-47b1-9b4e-0d2cafb40563