Here are some Simulink examples for the Desktop Simulation mode that a colleague did a few years ago: simulink-examples.zip

Hello Wei, The "earth" symbol means that there is no connection with the Internet, which is expected behavior if you do not have the "WAN" / Uplink port on the robot connect to a network with Internet access. Can you ping the ip address of the robot? (run "cmd" and "ping <robot-ip>") The SSH server ...

No. It will enter something like a degraded performance mode, but it will always respond and continue working. When the actuator is cold, you can get up to the rated "peak torque". When it is hot and loaded continuously, you will eventually be limited to the rated "continuous torque". This is very u...

Hello! The actuators were designed to be safe to use for students and in research contexts. We have added a heat limiter that limits the maximum output power to levels that each actuator can safely dissipate. ​Commanding something outside the specs will result in actuators not being able to meet the...

Sorry. This is a reasonable request, but after internal discussion we do not think that it would be a good idea to break assumptions at that level. It offers too much potential for confusion for a limited use case.

PID Loop The internal PID loops run in firmware and is always running at 1Khz. The controller rate can be thought of as "perfectly periodic". High-level Loop The "feedback frequency" corresponds to the loop rate at which the high-level controller receives feedback and updates commands. This is typi...

Can you elaborate on why you would want to change the direction? The direction is logically consistent with the labels on the actuator, the hrdf model, and other sensors like the IMU. My first thought is that allowing inconsistent negative signs may end up confusing users and may result in unexpecte...

No, you would get the frequency by looking at the diff of any of the timestamps, so e.g., 1/diff(pc_transmit_time)

We currently track 4 timestamps and a sequence number for every packet: 1. transmit_time: time when the request goes out (relative to the pc clock) 2. hardware_receive_time: time when the request gets received on the device (relative to the hardware clock) 3. hardware_transmit_time: time when the re...

You are right that this is an unconventional way to do it. Simultaneous control of position / velocity / torque can provide additional information to the system that can improve tracking without requiring very stiff gains. The following YouTube tutorial explains the combination in more detail: https...