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How to start Hand handGuiding mode? #14
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You can switch the control mode to joint impedance mode, and set the joint impedance parameters as all Please see here. |
Thank you for your reply. As you said, I try it and success run in gazebo. I guess IIWA This is my test code. Is it right? #include "ros/ros.h" #include "iiwa_msgs/ControlMode.h" int main(int argc, char **argv)
} |
please try it with a non-singularity pose |
Thank you for your reply. When iiwa in the non-singularity pose, I can use the handGuding mode. But this mode performance is bad. When I start this mode, the joint 5 will rapid run and lock in limit angle ever not anything tool in iiwa arm. And when the hand stop guiding it, it also continues move. I think this is the problem configure caused. This two answer is so simple for me that I don't know how to change configure in sunrise. I want to get better gravity compensation performance. |
just add the damping value for joint 5, and hold the joint 5 with your hand if possible.
Before stop guiding, please switch the mode to position mode. |
Hi jack
Thank you for your help about #198.
Recently, I want to try the IIWA handGuiding mode by ROS. But I have no idea how to do it.
I see the IFL-CAMP/iiwa_stack
ROSBaseApplication.java
have the fakeHandGuidanceMode. And I search jacknlliu/iiwa_stack repo, but not find the handGuiding mode.And I see you had want to finish that.
Could you get me some advice?
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