TCP offset and speed

[npuckett]

Using this excellent tool in my current class and have a few questions I can't sort out in the code.

1. TCP - Is there somewhere that I can add an offset for the TCP. I see it within the bigger ofxRobotArm, but can't find it in the code
2. Max Speed - I like all the damping on the data input side, but can't find where I set the max speed of the robot.

[madelinegannon]

Hi Nick, I'm happy to hear you're using it! This branch is a bit unkempt, so let me see if I can point you to the right places.

1. The TCP offset is controlled by RobotKinematicModel class over in the ofxUrDriver library. It has a setToolOffset function here.

You should be able to set the offset after robot.setup() in ofApp.cpp by calling something like:

robot.robot.setToolOffset(ofVec3f(0,50,0)); // double check the units here, I think we're mm by default :)

or it might be

robot.previewArm.setToolOffset(......) (some digging required).

The TCP is just an ofNode, so you can always grab it directly and manipulate it like any other ofNode.

2. Max Speed — good question. I've always wanted to go as fast as possible, so it's not a command I ever thought of exposing.

There are maxSpeedand maxAcceleration parameters in the URMove class. However, I advise you triple-check that they are implemented properly!

robot.movement.maxSpeed.set(.....);

A hackier solution would be to just add a max velocity to the Agent class — for example here:
desired_vel = min(max_vel, desired_vel);

Apologies for not providing the exact answers, but I hope this helps guide you in the right direction.

[npuckett]

Thanks Madeline!

This is really helpful. I'll have a look around and see if I can get these implemented and if so, will let you know as I think they would be helpful additions. If I have time, I may also try to add an OSC command to open/close the gripper.

Will let you know how it all goes.