[rett84]

Hello,

Would it be possible to add a feature to the API, to control the robot in simulation mode only, using an external path planner? In other words, set each joint speed independently.

Thank you.

[Albert]

I'm not sure I understand your suggestion. Do you mean set the robot joints?

You can iteratively set the robot joints through the API by using the setJoints command.

[rett84]

Hi Albert,

乔setJoints命令集ints absolute positions. I meant to set the joints velocities. Instead of sending joints positions, I would like to know if it is possible to set joints velocities and update it on-the-fly, disabling the built-in position control mode.

[Albert]

This can be done but requires some integration and it is not robot agnostic. I recommend you to take a look at the InstructionListJoints function:
//www.sinclairbody.com/doc/en/PythonAPI/robo...ListJoints

You should then customize how you stream the data to the robot to make the robot move.