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manual_robot_move_cmd
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manual_robot_move_cmd
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manual robot move:
rostopic pub /ariac/arm/command trajectory_msgs/JointTrajectory "{joint_names: \
['elbow_joint', 'linear_arm_actuator_joint', 'shoulder_lift_joint', 'shoulder_pan_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'], points: \
[{time_from_start: {secs: 1}, positions: [1.5, 0, 5.9, 3.1, 4.15, -1.51, 0.00]} ]}" -1
rostopic pub /ariac/arm/command trajectory_msgs/JointTrajectory "{joint_names: \
['elbow_joint', 'linear_arm_actuator_joint', 'shoulder_lift_joint', 'shoulder_pan_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'], points: \
[{time_from_start: {secs: 1}, positions: [1.5, 0, 5.9, 3.1, 4.15, -1.51, 0.00]} ]}" -1
rostopic pub /ariac/arm/command trajectory_msgs/JointTrajectory "{joint_names: \
['elbow_joint', 'linear_arm_actuator_joint', 'shoulder_lift_joint', 'shoulder_pan_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'], points: \
[{time_from_start: {secs: 1}, positions: [2.14, 0.25, -2.0, 3.14, 3.27, -1.51, 0.00]} ]}" -1
bin3 hover pose:
rostopic pub /ariac/arm/command trajectory_msgs/JointTrajectory "{joint_names: \
['elbow_joint', 'linear_arm_actuator_joint', 'shoulder_lift_joint', 'shoulder_pan_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'], points: \
[{time_from_start: {secs: 1}, positions: [2.14, 0.25, -2.0, 3.14, 3.27, -1.51, 0.00]} ]}" -1
box hover pose:
rostopic pub /ariac/arm/command trajectory_msgs/JointTrajectory "{joint_names: \
['elbow_joint', 'linear_arm_actuator_joint', 'shoulder_lift_joint', 'shoulder_pan_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'], points: \
[{time_from_start: {secs: 1}, positions: [2.14, -0.25, -1, 0, 3.27, -1.51, 0.00]} ]}" -1
bin3 cruise pose:
rostopic pub /ariac/arm/command trajectory_msgs/JointTrajectory "{joint_names: \
['elbow_joint', 'linear_arm_actuator_joint', 'shoulder_lift_joint', 'shoulder_pan_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'], points: \
[{time_from_start: {secs: 1}, positions: [2.14, 0.25, -2.00, 3.14, 3.27, -1.51, 0.00]} ]}" -1