Hi,
I am trying to control Baxter in torque control mode. The implementation in Lua scripts is getting difficult as I have to write code to calculate Joint Inertia Matrix from URDF.
Hence I decided to switch to python remote API. I am looking for an example of controlling robot arm in torque mode. I want to apply torques to all 7 joints in Baxter Arm.
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Thanks
Ravi
Torque based control of Baxter Arm using python
Re: Torque based control of Baxter Arm using python
Ravi,
try first to get things working from a child script or a joint control callback script. From a remote API client things become more complicated since you need to run in synchronous mode, etc. Also, did you try to control a single joint in force/torque mode? Try to get your hands on a simpler problem first, before doing something that complex.
Cheers
try first to get things working from a child script or a joint control callback script. From a remote API client things become more complicated since you need to run in synchronous mode, etc. Also, did you try to control a single joint in force/torque mode? Try to get your hands on a simpler problem first, before doing something that complex.
Cheers