2 DoF gravity compensation - moteus w / C++
Channel: Josh Pieper
Date: 19/09/2023

Source code: https://github.com/mjbots/gravity-comp
Get moteus: https://mjbots.com
Video 1: https://www.youtube.com/watch?v=VTyuRj0TDcM

00:00 - Intro
00:30 - Hardware
01:37 - moteus configuration
04:04 - Inverse dynamics
05:20 - Software
34:46 - Experiment iteration
38:24 - Final testing