Added a gravity compensation package, modified sleep positions #225
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Shiming-Liang
commented
Sep 30, 2024
Shiming-Liang
commented
- Added the gravity compensation demo package for xsarms
- Modified the sleep positions for aloha wx250s and vx300s so it doesn't fall as much
… updated the corresponding contents at the readme file, updated the URDF file for the aloha wx250s. TO DO: update the link to the documentation of the motor specs configuration.
The arms involved: aloha wx250s, aloha vx300s
- matched the node name with the one used in the code
added link to the doc page with a example motor specs configuration
lukeschmitt-tr
requested changes
Sep 30, 2024
interbotix_ros_xsarms/examples/interbotix_xsarm_gravity_compensation/README.md
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..._xsarms/examples/interbotix_xsarm_gravity_compensation/config/mode_configs_aloha_wx250s.yaml
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...ix_ros_xsarms/examples/interbotix_xsarm_gravity_compensation/config/mode_configs_wx250s.yaml
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...mples/interbotix_xsarm_gravity_compensation/launch/interbotix_gravity_compensation.launch.py
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interbotix_ros_xsarms/examples/interbotix_xsarm_gravity_compensation/package.xml
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readme - used the Github provided warning block - added empty lines after headers mode configs - changed the port setting to the default /dev/ttyDXL - merged the two mode configs file launch - limited choices to wx250s and aloha_wx250s - improved readability for path concatenations package.xml - added dependency for interbotix_xsarm_control
- change file path concatenation style for better readability
lukeschmitt-tr
requested changes
Oct 1, 2024
interbotix_ros_xsarms/examples/interbotix_xsarm_gravity_compensation/config/mode_configs.yaml
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mode_configs.yaml - removed launch script - removed unused mode configs argument - removed unused get_interbotix_xsarm_models import readme - updated the description about the launch script arguments - updated the dummy namespace to match the launch script logic: we used the robot name as the namespace
lukeschmitt-tr
approved these changes
Oct 1, 2024
lukeschmitt-tr
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Oct 2, 2024
* added demo of gravity compensation on xsarm * added config and launch files for gravity compensation demo on xsarm * updated doc for gravity compensation * properly formatted * move the config doc to interbotix_gravity_compensation * use namespace in the launch file * fixed typo in the grav comp yaml files, pointed to the closer example config * two arms can run at the same time, added parameters for friction modelling * corrected some entries of the URDF for the aloha wx250s * updated the config file for more sophisticated friction compensation, updated the corresponding contents at the readme file, updated the URDF file for the aloha wx250s. TO DO: update the link to the documentation of the motor specs configuration. * fixed an incorrect doc link * changed the sleep positions so the arm doesn't drop as much The arms involved: aloha wx250s, aloha vx300s * updated README for the gravity compensation package - matched the node name with the one used in the code * Updated README.md for the interbotix_xsarm_gravity_compensation package added link to the doc page with a example motor specs configuration * Minor fixes on gravity compensation readme - used the Github provided warning block - added empty lines after headers mode configs - changed the port setting to the default /dev/ttyDXL - merged the two mode configs file launch - limited choices to wx250s and aloha_wx250s - improved readability for path concatenations package.xml - added dependency for interbotix_xsarm_control * Minor fixes on the gravity compensation package - change file path concatenation style for better readability * Minor fixes on the gravity compensation demo package mode_configs.yaml - removed launch script - removed unused mode configs argument - removed unused get_interbotix_xsarm_models import readme - updated the description about the launch script arguments - updated the dummy namespace to match the launch script logic: we used the robot name as the namespace
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