EuRoC Forum

[Ichumuh]

Hi all,

i have two questions:
1. Are the positioning errors of the joints in the task descriptions given in degree or radian?
2. Is there any way to control the speed of the arm, when using the servo mode? We find it very unhandy, that it always uses the maximum.

Edit:
3. Are we only allowed to move the arm base in Task 3 and 4?

Thanks in advance for any help.

[Peter Lehner]

Hello,

1. Are the positioning errors of the joints in the task descriptions given in degree or radian?

Which task description do you mean? In the technical annex the maximum positioning errors of the joints are specified in degree as indicated by °.

2. Is there any way to control the speed of the arm, when using the servo mode? We find it very unhandy, that it always uses the maximum.

No, there is no possibility to limit the joint velocity in servo mode. But the move_along_joint_path service is available for tighter controlled movements.

3. Are we only allowed to move the arm base in Task 3 and 4?

No, you are welcome to use the arm base in Tasks 3 to 6.