nselby

Individual Joint Impedance Control

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I want to be able to move the end effector freely along a circle about the base of my Sawyer with my hand. Is there a script similar to set_interaction_options.py or constrained_zeroG.py that will allow me to constrain individual joints?

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Hi nselby,

Thank you for using Sawyer SDK!

The circle motion in SDK in achievable, currently, we do not have the example does exactly the same motion as you described. But we will definitely add more corresponding examples in the near future.

-Shiwei

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