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Provide method to set direction of gravity for all arms #147

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adeguet1 opened this issue Nov 18, 2021 · 0 comments
Open

Provide method to set direction of gravity for all arms #147

adeguet1 opened this issue Nov 18, 2021 · 0 comments
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@adeguet1
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Can be used for ECM and PSM-S gravity compensation when mounted at unusual angles. Also useful with PSM on SUJ for research with gravity (NN stuff). We should provide event or configuration so users can retrieve that info. This is different from base-frame for SUJs since this doesn't depend on the ECM end frame.
@adeguet1 adeguet1 self-assigned this Nov 18, 2021
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