Sending cartesian commands under admittance mode

[chengchunhsu]

Hi Kinova team,

I am wondering if there is any way to control the arm under the admittance mode on Gen3.

I tried to send the cartesian/twist/wrench commands to Gen3 under the cartesian admittance mode. However, the arm automatically turns into the normal mode without compliance while executing the command.

This is what I have done.

# set admittance mode
admittance = Base_pb2.Admittance()
admittance.admittance_mode = Base_pb2.CARTESIAN
base.SetAdmittance(admittance)

# execute the action
action = Base_pb2.Action()
cartesian_pose = action.reach_pose.target_pose
cartesian_pose.x = ...
base.ExecuteAction(action)

Thanks for the help in advance!

[martinleroux]

Hi @chengchunhsu

Apologies for the very delayed response. I am in the process of trying to catch up with all of our open issues in our repos and should be more responsive moving forward.

Unfortunately, Admittance mode only allows hand-guiding as an input. Sending any other command will indeed revert the robot to the normal mode.

One workaround to obtaining a similar behaviour is to implement your own control loop for admittance/impedance and control the robot using Twist commands. You still won't be able to send regular actions, but with this loop you will be able to also implement hybrid force/position control.

I will close this issue since the specific answer to the original question can't be solved directly with Kortex API / the content of this repo, but if you wish to discuss the workaround further, please contact us at support@kinova.ca.