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Added a gravity compensation package, modified sleep positions #225

Merged
merged 17 commits into from
Oct 2, 2024
Merged

Added a gravity compensation package, modified sleep positions #225

merged 17 commits into from
Oct 2, 2024

Commits on Sep 11, 2024

  1. added demo of gravity compensation on xsarm

    @Shiming-Liang
    Shiming-Liang committed Sep 11, 2024
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Commits on Sep 12, 2024

  1. added config and launch files for gravity compensation demo on xsarm

    @Shiming-Liang
    Shiming-Liang committed Sep 12, 2024
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  2. updated doc for gravity compensation

    @Shiming-Liang
    Shiming-Liang committed Sep 12, 2024
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Commits on Sep 13, 2024

  1. properly formatted

    @Shiming-Liang
    Shiming-Liang committed Sep 13, 2024
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  2. move the config doc to interbotix_gravity_compensation

    @Shiming-Liang
    Shiming-Liang committed Sep 13, 2024
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  3. use namespace in the launch file

    @Shiming-Liang
    Shiming-Liang committed Sep 13, 2024
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Commits on Sep 16, 2024

  1. fixed typo in the grav comp yaml files, pointed to the closer example… 

    … config
    @Shiming-Liang
    Shiming-Liang committed Sep 16, 2024
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Commits on Sep 18, 2024

  1. two arms can run at the same time, added parameters for friction mode… 

    …lling
    @Shiming-Liang
    Shiming-Liang committed Sep 18, 2024
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  2. corrected some entries of the URDF for the aloha wx250s

    @Shiming-Liang
    Shiming-Liang committed Sep 18, 2024
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Commits on Sep 23, 2024

  1. 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.
    @Shiming-Liang
    Shiming-Liang committed Sep 23, 2024
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  2. fixed an incorrect doc link

    @Shiming-Liang
    Shiming-Liang committed Sep 23, 2024
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Commits on Sep 30, 2024

  1. changed the sleep positions so the arm doesn't drop as much 

    The arms involved: aloha wx250s, aloha vx300s
    @Shiming-Liang
    Shiming-Liang committed Sep 30, 2024
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  2. updated README for the gravity compensation package 

    - matched the node name with the one used in the code
    @Shiming-Liang
    Shiming-Liang committed Sep 30, 2024
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  3. Updated README.md for the interbotix_xsarm_gravity_compensation package 

    added link to the doc page with a example motor specs configuration
    @Shiming-Liang
    Shiming-Liang committed Sep 30, 2024
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Commits on Oct 1, 2024

  1. 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
    @Shiming-Liang
    Shiming-Liang committed Oct 1, 2024
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  2. Minor fixes on the gravity compensation package 

    - change file path concatenation style for better readability
    @Shiming-Liang
    Shiming-Liang committed Oct 1, 2024
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  3. 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
    @Shiming-Liang
    Shiming-Liang committed Oct 1, 2024
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