Cartesian controller server configuration for Vizzy

[plinioMoreno]

Vizzy's cartesian controller server code, is configured with this file.

I want to know if the code is still valid (it is pretty old in fact), or it needs to be updated to the recently added control interfaces (e.g. position direct, etc) and the most recent version of the firmware. Vizzy's arms can be controlled only in position/position direct/velocity because it does not have torque sensors.

[pattacini]

Hi @plinioMoreno

Actually, the yarp code you posted is fine. It's already using position-control by default and you may want to highlight that introducing this new parameter in the conf file, also in order to disable it just on purpose.

Concerning firmware, I don't know if Vizzy makes already use of the latest Control and Interaction Modes policies.

Finally, the Cartesian Control doesn't deal with Torque Control since the latter is handled at a lower level. Thus, that's one more reason to say you're all set 😉

[plinioMoreno]

Hi @pattacini,

Thanks for your answer. Vizzy actually can control the joints in the mixed and the position direct modes. I will set the PositionControl flag and test when the segfault issue is fixed.

I see that the cartesian controller server and solver run with yarprobotinterface for iCub. Would it be possible to run the cartesian controller and server for Vizzy from the yarprobotinterface? If yes, how should I do it?

[pattacini]

Hi @plinioMoreno,

You can definitely launch the Cartesian servers devices using the yarprobotinterface deployer (see also #146). You would need to populate Vizzy's configuration files with suitable xml containing corresponding options. To get an idea, look at the content of this directory.

By contrast, the Cartesian solvers still need to be run as separate binaries, given that they are not devices.

[pattacini]

Hi @plinioMoreno

Can we close this?

[plinioMoreno]

Yes, we can close it.