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RethinkRobotics / intera_sdk

Software Development Kit and Interface for Rethink Robotics robots
http://sdk.rethinkrobotics.com/intera/
Apache License 2.0
40 stars 63 forks source link

When the robot is disabled, put the robot into position mode #131

Closed rethink-forrest closed 6 years ago

rethink-forrest commented 6 years ago

If the e-stop button was pressed while running either the constrained_zeroG or set_interaction_option scripts, the arm could possibly jump after re-enabling the arm. The scripts will now exit after the arm is disabled and send a command to put the arm into position mode.