Gravity Compensation for Sideways Mount about kinova-ros

[felixmaisonneuve]

Hi @zulfiqar-zaidi,

I found the issue #164 you are talking about.
I think the answer still applies and you still need to change the gravity vector using the Torque Console. The instructions are detailed in the SDK User guide (p.40, section 5) available on our website in the Resources section.

We provide HTML documentation for the API with the SDK software. This documentation is (normally) located in /opt/JACO-SDK/Documentation/OfflineDocumentation.html. You can search for SetGravityVector there and get some more info.

Changing the urdf will be enough to use moveit (I think only MoveIt/Gazebo uses URDF files), but you will need to chage the gravity vector to use cartesian velocity commands for example.

Doing a set_zero_torquewhen the arm is not mounted vertically is not ideal. I think the best position to reset torques when mounted horizontally would be to make you rotate your second actuator to make the arm point upwards. You want to reduce the torque induced by gravity. You want the arm to be as vertical as possible

I don't have any other suggestion other then changing the gravity vector. It is not very common (for me anyways) to work with arms mounted sideways, so I don't know how well the arms react in such conditions.
If you notice a problem and you think it could be related to this, make sure to shared it and we will see what we can do.

For now, I think it should be enough to get you started

Best Regards,
Felix