Allow Joint Freedrive Floating from RDK

[joepuzzo]

Currently I can enable freedrive floating via

executePrimitive(
            f"FloatingCartesian(cartFloatingAxis={floatingAxis}, cartFloatingFrame={cartFloatingFrame}, enableJointFloating={enableJointFloating})"
        )

But I would really also love the ability to enable freedrive floating for individual joints as well. Is there a FloatingJoint function hidden away somewhere ? :)

[pzhu-flexiv]

@joepuzzo What software version are you using?

[joepuzzo]

For RDK im using 0.10

[pzhu-flexiv]

@joepuzzo Try primitive floatingSoft. It has the following parameters:

• jointFloatingSwitch: switch for each joint floating, 0 for off, 1 for on. Data type: Vector7d. Default value: 1.0 1.0 1.0 1.0 1.0 1.0 1.0
• dampScale: scale of joint damping. Data type: double. Range: 1.0 - 10.0. Default value: 1.0.

[joepuzzo]

Thanks will give that a go!

[joepuzzo]

Seems that does not exist

[pzhu-flexiv]

@joepuzzo It's floatingSoft not FloatingSoft

[joepuzzo]

Oh wow I just guessed because "FloatingCartesian" is uppercase that floatingSoft would also be uppercase haha

[joepuzzo]

Will give it a try now

[joepuzzo]

That worked! Thanks!

[yellownebula10]

@pzhu-flexiv I would like to use the primitives FloatingCartesian and floatingSoft in my application, but they do not seem to be mentioned in the primitives documentation. Where can I find documentation for these primitives?

[kaibiao-flexiv]

Hi @yellownebula10, FloatingCartesian and floatingSoft are not standard primitives, and therefore not documented on our primitives page. If you are interested, you can import PLAN-FreeDriveAuto.zip on Elements and check out these primitives' parameters and descriptions.