Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

PlayPreComputedTrajectory with gripper control #213

Open
hermattt opened this issue Dec 27, 2024 · 0 comments
Open

PlayPreComputedTrajectory with gripper control #213

hermattt opened this issue Dec 27, 2024 · 0 comments

Comments

@hermattt
Copy link

Summary

Combination of PlayPreComputedTrajectory and SendToolCommand in one command allowing smooth movements without stopping.

Use case

There is no high level command for operating robot and gripper simultaneously. Using SendToolCommand while PlayPreComputedTrajectory is playing, stops the robot.

Alternative

Just add API that has number of DOF +1 (or +10 like in SendToolComand) that combines PlayPreComputedTrajectory and SendToolCommand functions.

Alternatively do make SendToolComand non blocking call that do not stop PlayPreComputedTrajectory

Possible issues

None that I know of.

Additional context

Is there any roadmap of features that should come in future updates, or is it not planned to update the software? It would be easier if it would be open source, so features could be added by community.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

No branches or pull requests

1 participant