Comments (3)
Jivko, via email:
Does the force control on off service work the same as before? Make sure the driver turns that on by default at startup, we added that to the original driver for safety.
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Calling the service succeeds but seems to have no impact on the arm's behavior. It's possible the force control parameters were reset during the upgrade. Do we have the previous parameters stored anywhere?
They come in this format:
inertia_linear: {x: 0.0, y: 0.0, z: 0.0}
inertia_angular: {x: 0.0, y: 0.0, z: 0.0}
damping_linear: {x: 0.0, y: 0.0, z: 0.0}
damping_angular: {x: 0.0, y: 0.0, z: 0.0}
force_min_linear: {x: 0.0, y: 0.0, z: 0.0}
force_min_angular: {x: 0.0, y: 0.0, z: 0.0}
force_max_linear: {x: 0.0, y: 0.0, z: 0.0}
force_max_angular: {x: 0.0, y: 0.0, z: 0.0}
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Kinova support knew the answer; just had to switch the model from assistive to service in Jacosoft.
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