PlayPreComputedTrajectory with gripper control

[hermattt]

Summary

Combination of PlayPreComputedTrajectory and SendToolCommand in one command allowing smooth movements without stopping.

Use case

There is no high level command for operating robot and gripper simultaneously. Using SendToolCommand while PlayPreComputedTrajectory is playing, stops the robot.

Alternative

Just add API that has number of DOF +1 (or +10 like in SendToolComand) that combines PlayPreComputedTrajectory and SendToolCommand functions.

Alternatively do make SendToolComand non blocking call that do not stop PlayPreComputedTrajectory

Possible issues

None that I know of.

Additional context

Is there any roadmap of features that should come in future updates, or is it not planned to update the software? It would be easier if it would be open source, so features could be added by community.

[martinleroux]

Hi @hermattt ,

To accomplish this, you can use the low-level API, sending each point of your PreComputedTrajectory one by one, and then following the gripper low-level example to operate the gripper in a separate thread.

Still, I will be logging the feature request in our system since we've had a few similar requests in the past.

Regarding roadmap, nothing is set in stone yet for 2025, and I can't give much detail, but I can say our focus will be on a bugfix release somewhat early in the year, followed by effort to improve our integration into 3rd party software.