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daverolli Arm kit updates (#73)
A whole mess of changes to the arm kit.  Main updates are now using gains XML files for all arms and using HRDF for all the kinematics.  Also did a rework of the examples based on new tools like the Mobile I/O app and trying to make things easier to extend for specific applications, like the `ex_teach_repeat` examples.

* Changed 'hexapod' to 'daisy'

* Updated startup script

* Re-orged gains in arm kit.

* Added logging to Mobile I/O example

* 3 tabs to 2 tabs

* Initial commit of scanning arm.

* Added scanning demo

* Added some bells and whistles

Use the mobile app to start / jog / pause.

* Update to use Mobile Device API

Took out the code that hacked ARKit feedback onto alternate channels before the proper API was in place.  Changed demo to run without assuming a gripper.

* Readable name for scan speed

* Added startup.m

* Added gains comments

* Refactored trajectory execution

Also added impedance control on top of the position/velocity control.

* Updated gains / fixed hard-coded tip orientation

* Added examples of plotting end-effector tracking and error

* Modified .gitignore to allow another example log.

* Tweaks based on getting the new arm setup.

* Tweaks based on new contact probe arm.

* More improvements to scanArm demo

Changed to Panametrics PC probe.  Consolidated all the system variables and now pass them into `executeTrajectory`.

* Prep for putting on control case

Made demo loop indefinitely.  Added startup wrapper and copied over the startup script from Rosie.

* Added startup scripts.

Made them generic for any robot demo (hopefully)

* Added handling of E-Stop

* Fixed jitters when tablet/phone controller drops out.

* Changed 'phone' to 'mobile device' in print statements.

* Fixed timeouts during IO reset

* Rotated base frame.

Rotated to match the scanner coordinates.  Changed raster to be in y-axis so that the arm still moved in and out.

* Create README.md

* Update README.md

* Update README.md

* Update README.md

* Update README.md

* Added ignore exception for example hebilog file.

* Added HRDF for 3_DoF Arm

* Added IK edge cases.

* Updated ex_teach_repeat.m to use non-blocking API.

* Fixed bug in waypoint playback.

* One more time, with feeling.

* Added HRDF files for kits.

* Added gains XML files.

* Updates to setupArm.m to use HRDF and XML files.

* Added .m~ to .gitignore

* Rename arm_kinematics_analysis.m to kinematics_analysis.m

* Update kinematics_analysis.m

* Update and rename ex_kinematics_analysis.m to ex_log_kinematics_analysis.m

* Rename ex_log_kinematics_analysis.m to ex_kinematics_log_analysis.m

* Renamed gravity compensation and impedance control examples.

* Updated ex_mobile_device_control.

Added support for gripper.  Changed home position to work with gas spring.

* Fixed gains typos.  Filled in gripper spool gains.

* Update kits/arms/kinematics_analysis.m

* Updated setupArm.m

Added flag for gripper.  Loads gains for gripper.  Fixed typos with `effortOffset` sizing.

* Updates to ex_teach_repeat.m

Made instructions printed to the screen more clear.  Added pause before playback.  Added loading of default waypoints.  Added kinematics plotting at the end.

* Added deadzones to effort gains, based on arm tuning.

* Removed target chase examples.

* Properly scaled grip force.

* Cleaned up / fixed gravity compensation and visualization examples.

* Moved waypoints to their own folder

* Specified local folder paths in all examples.

* Updated header information

* Updated header info on various demos

* Updated ex_teach_repeat_w_gripper and fixed typo in name.

* Initial working version of impedance control demo.

This one is kinda fun.

* Made sure gains set in setupArm.m

* Updated impedance gains and descriptions

* Update README.adoc

* Revert "Update README.adoc"

This reverts commit 8bdccc6.

* Updates based on comments on the pull-request #73.

* Added some velocity analysis to kinematics_analysis.m

* Fixed typo in install.sh
Latest commit b59e8ae Nov 2, 2018
Type Name Latest commit message Commit time
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arms Arm kit updates (#73) Nov 2, 2018
daisy Basic mobile examples (#60) Jul 30, 2018
edward created top level include dir for libraries and moved all of Edward's… Mar 9, 2018
igor Added README Jun 20, 2018
rosie Revert "Committing even though git shows no changes." Nov 2, 2018