Comments (4)
Hi, what actions do you mean? If you are using the low-level controllers, they should be able to operate at a much higher frequency. I think I have been able to send commands from python at the rate of over 250 commands per second, while the actual low-level control loop in C++ (tries to) run at 1kHz. It doesn't actually reach 1kHz in practice and is closer to 500 - 700Hz in my observations.
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I am so sorry, there seems no notification, i didn't notice you already respond to me. I am trying to use exec cmd in python wrapper, is these the command you mentioned that can reach the rate of 250 commands per second?
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also ,I am wondering which api in python should I use if I want to make panda move more smooth like when track a marker?
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I am so sorry, there seems no notification, i didn't notice you already respond to me. I am trying to use exec cmd in python wrapper, is these the command you mentioned that can reach the rate of 250 commands per second?
Yes, I am able to attain over 250Hz with the python commands. Note that this requires you to send commands in a loop that is running independently at at least that rate. Simple example here.
also ,I am wondering which api in python should I use if I want to make panda move more smooth like when track a marker?
You can still use the python code to test provide smooth motion; you have to make sure that the provided trajectory is very smooth and continuous, especially if you use position control (see #28). But motion should be much smoother if you use torque or velocity control. If you want the robot tracking a marker, I would suggest writing a task-space position/impedance controller using the torque command interface (a vaguely similar example is the task-space control demo in panda_simulator).
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Related Issues (20)
- Trouble in executing a plan using move group interface HOT 4
- I got a Problem with the arm controller HOT 3
- [franka_control-2] has died! please help HOT 3
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- catkin build issue HOT 11
- Fix shebang for python2 and python3 compatibility HOT 4
- ArmInterface() seems to get stuck moveit '/get_planning_scene' HOT 1
- com
- use franka_ros_interface with two panda arm simultaneously HOT 3
- Values of width and force in grasp HOT 1
- Error occurs with libfranka 0.8 and no real time kernel HOT 1
- REQUIRED process [franka_control-3] has died error when running driver node HOT 3
- Lacks dependencies about quaternion HOT 1
- Maybe it could not be run in zsh HOT 1
- Any control interface for cartesian velocity control? HOT 1
- load_gripper:=false doesn't work HOT 1
- 【cartesian_impedance mode】Has anyone tried cartesian_impedance with franka ros interface? HOT 1
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