hold, a command to instruct arm to stay in place. Implementation would be robot dependent. For example, dVRK could use servo_jp(setpoint_jp()) while the Galen would use servo_jv(0).
free, a command to "release" the robot. Often required on dVRK MTM and other haptic devices. Specification would be:
Turn on gravity compensation if available
Set effort to zero (similar to servo_cf(0) or servo_jf(0))
free could be added to other robots such at the UR or even the Galen (zero force compliance).
I propose to add two new commands to CRTK:
hold, a command to instruct arm to stay in place. Implementation would be robot dependent. For example, dVRK could useservo_jp(setpoint_jp())while the Galen would useservo_jv(0).free, a command to "release" the robot. Often required on dVRK MTM and other haptic devices. Specification would be:freecould be added to other robots such at the UR or even the Galen (zero force compliance).