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Kinovarobotics / kortex

Code examples and API documentation for KINOVA® KORTEX™ robotic arms
https://www.kinovarobotics.com/
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Sending cartesian commands under admittance mode #187

Open chengchunhsu opened 9 months ago

chengchunhsu commented 9 months ago

Hi Kinova team,

I am wondering if there is any way to control the arm under the admittance mode on Gen3.

I tried to send the cartesian/twist/wrench commands to Gen3 under the cartesian admittance mode. However, the arm automatically turns into the normal mode without compliance while executing the command.

This is what I have done.

# set admittance mode
admittance = Base_pb2.Admittance()
admittance.admittance_mode = Base_pb2.CARTESIAN
base.SetAdmittance(admittance)

# execute the action
action = Base_pb2.Action()
cartesian_pose = action.reach_pose.target_pose
cartesian_pose.x = ...
base.ExecuteAction(action)

Thanks for the help in advance!