pzhu-flexiv

Results 48 comments of pzhu-flexiv

[FEATURE] Get positions of user defined reference frames

@isa-9 Interacting with workpiece coordinate will be added in RDK v1.5.

[FEATURE] Get positions of user defined reference frames

https://github.com/flexivrobotics/flexiv_rdk/blob/main/include/flexiv/rdk/work_coord.hpp

[FEATURE] Add is_connected state for supported devices (like gripper)

@ShirunK Do you wish to check if a gripper is enabled or if a gripper is connected and recognized by the robot?

[FEATURE] Add is_connected state for supported devices (like gripper)

@ShirunK Ok, will try to add them in v1.9

[FEATURE] Read safety inputs

@isa-9 Could you elaborate how you plan to use safety inputs?

[FEATURE] Read safety inputs

@isa-9 We cannot expose raw safety I/O to the users, however, RDK v1.5 will add a function to get if the robot is in reduced state or not.

[FEATURE] Read safety inputs

@isa-9 Sure, I can convert the not operational reasons to an enum in RDK v1.5.

[QUESTION] Application of model-based controllers

@Mlahoud Hi, it should be feasible if you use the `RT_JOINT_TORQUE` control mode.

[QUESTION] Application of model-based controllers

Hi @Mlahoud, You can only disable gravity compensation when using `RT_JOINT_TORQUE` mode, the other nonlinear dynamics compensation are still active, including frictional, centrifugal and Coriolis torques. You can get centrifugal...

[QUESTION] SendCartesianMotionForce Intended usage.

@ShirunK Fabulous!