Mike_Fair Posted March 14, 2018 Share Posted March 14, 2018 Rethink Robotics is thrilled to announce the latest version of the Sawyer SDK is available for download! The release includes: Gazebo Simulator - Allows you to simulate controlling Sawyer in a physics and virtual environment before running the actual robot. New Motion Interface - This mode allows the user to specify high-level (Joint or Cartesian space) waypoints. Sawyer’s own onboard motion controller will then generate smooth trajectories that will interpolate motion between these waypoints. Impedance and Force control mode interfaces - Users can more quickly take advantage of Sawyer’s unique differentiator of having built in torque sensors on each joint to use force or impedance control with the robot. Impedance control allows you to directly control the Cartesian stiffness of the endpoint. Force control enables the robot to exert forces and moments in the six Cartesian dimensions. ClickSmart - Support for the Rethink Robotics ClickSmart family of gripper kits. More detailed information about the release can be found in Ian’s recent blog post It is important to note that you must upgrade to Intera 5.2.2 in order to use the latest Sawyer SDK functionality. Also, if you intend to use Sawyer in Gazebo, you must make sure your workstation is running Ubuntu 16.04 and ROS Kinetic. If you're not using Gazebo at all, you may still use SDK 5.2 with a workstation running Ubuntu 14.04 and ROS Indigo. Getting Started with Sawyer SDK: 1. Download Intera 5.2.2 from the Forum 2. Update Developer Workstation to SDK 5.2 3. Check out the Gazebo Tutorial For additional support please be sure to visit our SDK Forum to tap into the vast network of global experts for answers, suggestions, and collaboration. Quote Link to comment Share on other sites More sharing options...
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