Defining pre-recorded joint states
This page contains a step-by-step guide to define pre-recorded joint states that you can use in the task editor. This is useful to define waypoints (e.g. recurrent joint states the robots will visit).
Prerequisites
In this tutorial, we assume that a robot is already properly interfaced to GRIP (see here for the different integration modalities).
Procedure
In the
Settings
tab, go to theNamed joint states
editor and create a new file by clicking onNew
In the margin, click on the
+
symbol and enter the name of the joint state (i.e. waypoint) you want to createAdd as many joint states you want in this editor. Note that each one must respect the following format:
waypoint1_name:
joint_name_1: <value_11>
joint_name_2: <value_21>
...
joint_name_n: <value_n1>
Note
Make sure each created joint state has an unique name (i.e two joint states should have two distinct names). The joint states defined here can also be used to create trajectories.