penglongxiang

Hi, sleep_milliseconds() is just a system sleep function, it has nothing to do with robot controller. As for the torque values, did you add any additional payload to the arm?...

hi, it seems you are just using the C++ SDK instead of ROS interface. I have tried the same code on our robot and the output was: ``` SDK_VERSION: 1.8.5...

Hi, please keep outputting these torque for a longer period to see if the values can become stable eventually. Meanwhile, please share the latest result and refer this issue to...

I also run the code on xArm6, there are always 7 output values but only the first 6 are useful for xArm6.

After the new firmware version is released in late March (hopefully), you can try the new velocity mode to work with joystick. There will be two new modes available: joint...

hi @lorepieri8 , as stated in [this section](https://github.com/xArm-Developer/xarm_ros/tree/master/examples#2-servo_cartesian-streamed-cartesian-trajectory), Moveit (position control mode) should not be used together with `set_servo_cartesian` or `set_servo_joint` because they operate in the same mode(1) and can...

Hi @goyalvarun02, the coordinate Transformation (TF) in ROS and Moveit uses **Quaternion** for orientation representation. There is function available in `tf` module to convert RPY to Quaternion, refer [here](http://wiki.ros.org/tf2/Tutorials/Quaternions#Think_in_RPY_then_convert_to_quaternion). Another...

Hi @goyalvarun02, This orientation is a fixed one in our demo for simplicity, because we tested the grasping in 2D platform where the objects are placed on the table parallel...

I am afraid you have to make sure the orientation returned by object detection and its transformation to robot base is correct. Try some easy orientation and make hand calculations...

Hi, as said in my previous answer, the fixed orientation is just an example. **Any yaw value with roll= 180 and pitch=0** will make the gripper perpendicular to the base...