Differences

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--- intranet:projects:robot:armtopics [2017/06/23 16:35]
c7031193 [General startup information]
+++ intranet:projects:robot:armtopics [2018/09/03 19:35] (current)
@@ Line 21: / Line 21: @@
 In order to be able to manipulate the robot by hand to record gesture, follow these steps :
-- Start the FriOrocos script normally in AUT mode (Spiral)
+   - Start the FriOrocos script normally in AUT mode (Spiral)
-- Start roscore / arm / gripper scripts as indicated previously
+   - Start roscore / arm / gripper scripts as indicated previously
-- Through ROS, switch mode to mode 0 (Monitor mode, that should be acknowledged on the KCP) then switch to mode 30 (mode 101 not working at this date - June 23rd, 2017). You can just adjust the impedance (stiffness/damping) to make the robot more compliant :
+   - Through ROS, switch mode to mode 0 (Monitor mode, that should be acknowledged on the KCP) then switch to mode 30 (mode 101 not working at this date - June 23rd, 2017). You can just adjust the impedance (stiffness/damping) to make the robot more compliant :
      rostopic pub /real/right_arm/joint_control/set_impedance iis_robot_dep/FriJointImpedance "stiffness: [0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2]