penglongxiang

`xarm_planner` is actually using Moveit planning interface in the background, it is from third party and not under our control. May I know which robot model you are using? Would...

Hi @DailyNir, please refer to https://github.com/xArm-Developer/xarm_ros2/issues/58#issuecomment-1842003128 Please read the comment carefully and test with caution. You can wrap the step-by-step service calls in a script.

Hi @aoberai, there is no integrated force/torque (F/T) sensor INSIDE any of our robotic arm. The collision detection and manual mode is achieved by **motor current** observation and robot dynamic...

The current observation is done for ALL the joints. We will compensate the friction when the joint is moving with an identified model, it is not precise but enough for...

To be honest, I am not sure of Lite 6 is suitable for compliant control, it has a low joint torque and loading capacity. The only way I can think...

Hi @SyllogismRXS, thanks for the feedback. If collision sensitivity is not set to 0, it will still monitor the joint motor currents (for joint torque estimation) while deducting the contribution...

Thanks for your suggestion. Currently we do not have experience of releasing an installable version. Will look into it after finishing recent development work.

Hi, what is the command update frequency? If dynamic target is position, you may try the latest **on-line trajectory generation mode** (mode 7, available since **firmware version 1.11.0**), motion execution...

For lite 6 when link4 and link5 are almost aligned, it will be easy to cause singularity. Would you please share the initial joint angles and following Cartesian command which...

Thanks for the illustration, in your case it is because the robot is at its reaching limit. The joint command might overspeed at this singularity point. If move in the...