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flexivrobotics / flexiv_rdk

RDK (robotic development kit) for Flexiv robots. Supports C++ and Python. Compatible with Linux, macOS, and Windows.
Apache License 2.0
58 stars 18 forks source link

Ability to Jog Robot via RDK #56

Closed joepuzzo closed 2 months ago

joepuzzo commented 2 months ago

I would love if there were a a primitive that would allow me to jog the robot. Currently I can achieve this by looking at current cart pos or joint pos and only modify the field I want, however it would be pretty sweet if this was a built in function.

pzhu-flexiv commented 2 months ago

@joepuzzo Joint jogging can be easily achieved using NRT_JOINT_POSITION control mode.

joepuzzo commented 2 months ago

IS there example of executing jog via this control mode in RDK ?

pzhu-flexiv commented 2 months ago

@joepuzzo Not on joint jogging specifically, but this example should give you the idea.