Function hebi::util::getGravCompEfforts

Defined in File grav_comp.hpp

Function Documentation

static Eigen::VectorXd hebi::util::getGravCompEfforts(const hebi::robot_model::RobotModel &model, const Eigen::VectorXd&, const hebi::GroupFeedback &feedback): A helper function to get the torques which approximately balance out the effect of gravity on the arm.