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sammy-tri / drake-jaco-driver

Driver for controlling a Kinova Jaco arm via LCM
BSD 3-Clause "New" or "Revised" License
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what is the frame_type set to within the kinova GUI #5

Open mpatalberta opened 3 years ago

mpatalberta commented 3 years ago

KINOVAAPIUSBCOMMANDLAYER_API int SetFrameType | ( | int | frameType | ) |  

Frametype can be fixed_frame Or Rotating Frame

This means either from the base or from the hand. This value only takes after you have set the value and then cycle the power. Then check the /opt/JACO/GUI/Developer on the advanced setting screen.

You can also directly set the value of the setFrametype from the developer GUI This value need only to set once or if you have done complete system setup. Thanks, Patrick

mpatalberta commented 3 years ago

The following is the description of rotating and fixed frame by Kinova:

KINOVA™ Ultra lightweight robotic arm user guide56 Rotating frame / Fixed frameThis section describes the difference between Rotating frame and Fixed frame for thehand/gripper.By default, Kinova robots are configured in Rotating frame. In Rotating frame, the hand/gripperrotates automatically to follow the arm’s motion in the horizontal plane. This gives a morehuman-like behavior. In Fixed frame, the hand’s orientation will not change unless explicitlycommanded.Users can switch between Rotating frame and Fixed frame using the Kinova DevelopmentCenter software or API. Frame selection (Rotating or Fixed) is recorded inside the robot’smemory. This means that a robot that was configured in Fixed frame will not reset to Rotatingframe at reboot

mpatalberta commented 3 years ago

Since what is being sent to the robot anglular velocity the the frametype is not directly affect the movement of the robot. Issue will happen when you try to get the p,r,y from the robot. The value returned will depend on what frame type is being used.