flexivrobotics / flexiv_rdk

RDK (robotic development kit) for Flexiv robots. Supports C++ and Python. Compatible with Linux, macOS, and Windows.
Apache License 2.0
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[BUG] Gravity compensation cannot turn off #39

Closed acf986 closed 8 months ago

acf986 commented 9 months ago

Version information

Describe the bug streamJointTorque(tau, false) does not turn off gravity compensation

Steps to reproduce

  1. Set the gravity compensation flag of streamJointTorque to false.
  2. Run a simple controller like tau = -10 * q_dot;

Expected behavior The robot arm will drop because of the lack of gravity compensation.

Additional context We have tried turn the gravity compensation flag on/off, but it seems there is no effect on the robot arm control at all.

pzhu-flexiv commented 9 months ago

@acf986 This is a known issue and has been fixed in the upcoming RDK v0.9 release.