Better examples for getting started
eeberhard opened this issue · 3 comments
We should have one or two high-level examples that shows how to install and plug together components of this library in a project.
Show a dynamical system + controller working a control loop.
This example could incorporate a simple external simulator / robot interface from a different repo. The main thing is that is it plug-and-play, "hello world" style, that shows the pieces all working together.
In the end someone outside the team should test the example and verify it makes sense and is easy to use.
Could we outline such an example (or several examples) together? I would like to do it but I'm not too confident about it. I know that @buschbapti would like to have the moving reference frame example but we don't have a controller for the orientation yet so @eeberhard proposed to use a simple impedance controller in joint space last week right? What other ideas do you guys have?
The Dissipative controller works in orientation as well it just does not give nice commands on the actual robot. We could also do as @eeberhard did which is to separate position from orientation. I am not sure what would be needed to implement for those examples. I guess the orientation controller would be one.
I think this issue can be closed with the demos and install script in 2.0.0! We should still strive to extend those, but the foundation is there now.