Search found 11 matches

by matt_tesch
Mon Mar 15, 2021 12:30 pm
Forum: Python
Topic: Stop position commands
Replies: 4
Views: 156

Re: Stop position commands

Whoops -- missed your last question there. You can combine the actuators into one group, but still index into the commands to send individual values for commands. However, when you call "send command", messages are sent to all actuators in the group with their respective commands; you cannot just se...
by matt_tesch
Mon Mar 15, 2021 12:16 pm
Forum: Python
Topic: Stop position commands
Replies: 4
Views: 156

Re: Stop position commands

Rasmus, Sorry for the late reply. Thanks for sharing the code snippets -- I can point out a few things here that should help and may address the problem. I don't see any velocity commands, though. If you are able to share a full file, I can provide more complete feedback; alternatively, I would be h...
by matt_tesch
Mon Mar 08, 2021 11:00 am
Forum: Python
Topic: Stop position commands
Replies: 4
Views: 156

Re: Stop position commands

Rasmus, Thanks for reaching out. My guess here is that you are using a CommandStruct/GroupCommand which still has position commands in it. The solution here is either to clear the position command from the CommandStruct/GroupCommand, or to use a new CommandStruct/GroupCommand object. If you let me k...
by matt_tesch
Mon Mar 08, 2021 10:54 am
Forum: Python
Topic: Command position with maximum allowed velocity
Replies: 2
Views: 65

Re: Command position with maximum allowed velocity

Rasmus, When commanding a position, this is telling the actuator to try to move to this position instantaneously. While you can use velocity limits to try to address the issue, this isn't really what they are designed for. Instead, we recommend you plan a smooth trajectory to the destination positio...
by matt_tesch
Tue Feb 02, 2021 5:28 pm
Forum: Mobile I/O
Topic: Unable to control Lily
Replies: 2
Views: 149

Re: Unable to control Lily

Interesting -- I haven't run into this before. I think your assumption here is correct -- the app is somehow not triggering a permission dialog, and therefore not getting the local network permission. A couple quick things to try: (1) force quit the app (double tap home, and swipe up to kill the pro...
by matt_tesch
Fri Jan 08, 2021 9:50 am
Forum: C++
Topic: hebi::GroupCommand::readGains
Replies: 3
Views: 284

Re: hebi::GroupCommand::readGains

Apologies for the delay over the holiday!

This was fixed in C API v2.1.0 before the new year; the C++ API update should be out today pending some final testing.

Best,
Matt
by matt_tesch
Fri Oct 16, 2020 3:52 pm
Forum: Python
Topic: Python accel_includes_gravity property error
Replies: 3
Views: 286

Re: Python accel_includes_gravity property error

Istvan,

I'm glad that worked for you!

Sorry for the delay -- we just released actuator version 15.5.0, which supports this feature. You can update modules on your network by opening Scope and going to the "firmware updates" tab in scope.

Let us know if you have any issues here.

Best,
Matt
by matt_tesch
Mon Sep 21, 2020 2:46 pm
Forum: Python
Topic: Python accel_includes_gravity property error
Replies: 3
Views: 286

Re: Python accel_includes_gravity property error

Istvan, Thanks for the question. One quick note before debugging the python issue you are running into -- the "accel_includes_gravity" feature is implemented on the mobile I/O android and iOS apps, but not yet on the modules. From your suggestion, we are putting this together this as a feature on th...
by matt_tesch
Tue Aug 25, 2020 12:54 am
Forum: General
Topic: Estimating the inertia matrix for the bracket
Replies: 2
Views: 349

Re: Estimating the inertia matrix for the bracket

Thanks for the great question! A couple of notes: I need to know how to estimate the inertia matrix for the brackets and links that I replaced. The parameters don't need to be very accurate, as long as they are accurate enough for the get_grav_comp function. Since the "get grav comp" function return...
by matt_tesch
Mon Jun 22, 2020 1:56 pm
Forum: General
Topic: Goal position contstraint for trajectory controller
Replies: 1
Views: 577

Re: Goal position contstraint for trajectory controller

Leon, Sorry for the slow reply! We looked into this, and believe we know what is happening here. I just want to clarify our understanding of the issue. It looks like you are using our MoveIt integration: http://wiki.ros.org/hebi_cpp_api_examples/MoveItArmNode https://github.com/HebiRobotics/hebi_cpp...