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Kinovarobotics / kinova-ros

ROS packages for Jaco2 and Mico robotic arms
BSD 3-Clause "New" or "Revised" License
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When I set the safety factor to 1.0, the arm can still easily switch to the position mode. #438

Open Shunichi09 opened 4 months ago

Shunichi09 commented 4 months ago

Description

When I set the safety factor to 1.0, the arm can still easily switch to the position mode from the torque mode.

I'm trying to build a direct teaching system and we need the gen2 (j2n6s300) arm to move by human hand. However, even if I move the arm softly, the arm can still easily switch to the position mode.

Is there any solution for this problem?? I know that the safety factor decides the velocity threshold, so I think if I can change the velocity threshold and the arm will not easily switch to the position mode. but how?

I really appreciate your help in advance! Thanks.

Version

The latest firm ware (v6.2.11)

Steps to reproduce

Simply run gravity_compensation.py and move the arm by human hand.

Expected behavior

The arm should stay in the torque mode.