Danfei Posted May 14, 2018 Share Posted May 14, 2018 Hi, we are trying to make our Sawyer to execute Cartesian trajectories with dynamically changing interaction parameters (impedance), e.g. the waypoints are defined as 6D poses with associated impedance parameters. As first attempt we tried to use the motion interface to execute the Cartesian trajectory. However, in this interface the interaction parameters are constant (a property of the trajectory) and cannot be defined per waypoint. We tried to "hack" it by publishing our own InteractionControlCommand's during the trajectory execution but the node "motion_controller" on the Sawyer computer periodically publishes the parameters defined in the trajectory and the messages clash. Did someone succeed on implementing a similar functionality? --Roberto Link to comment Share on other sites More sharing options...
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