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clubcapra / ovis

Ovis robotic arm control package
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Invert joint 1 and 5, and tweak arm velocity params #36

Closed GLDuval closed 1 year ago

GLDuval commented 1 year ago

These tweaks make the arm much smoother when using the UI after these changes https://github.com/clubcapra/capra_web_ui/pull/162. Also the joints 1 and 5 were inverted to improve usability.

GLDuval commented 1 year ago

Seems good to me. I would like to add another velocity constant for the axis 4-5-6 of the robot. They could move a lot faster than the others (1-2-3) because of their reduced inertia. It would make inspection tasks easier IMO ;).

Good suggestion, I'll try to sit down Wednesday and fine tune it!