Is your feature request related to a problem? Please describe.
Currently, the UR10 will move to the piece position and use a constant downward force for 1.5 seconds to ensure the electromagnet is in contact with the piece. Ideally, there should be a force sensor to determine if the force needs to be applied for the full 1.5 seconds.
Describe the solution you'd like
The robot should stop applying force when it collides with a piece.
Describe alternatives you've considered
This may be possible with moveUntilContact, however the implementation is not fully complete in python. moveUntilContact relies on startContactDetection, which is not properly implemented in the latest version of ur-rtde (1.5.7). A workaround or alternative solution may be needed.
Additional Information
ur-rtde 1.5.8 is supposed to add this functionality in python, however it is not currently available
Is your feature request related to a problem? Please describe.
Currently, the UR10 will move to the piece position and use a constant downward force for 1.5 seconds to ensure the electromagnet is in contact with the piece. Ideally, there should be a force sensor to determine if the force needs to be applied for the full 1.5 seconds.
Describe the solution you'd like
The robot should stop applying force when it collides with a piece.
Describe alternatives you've considered
This may be possible with
moveUntilContact, however the implementation is not fully complete in python.moveUntilContactrelies onstartContactDetection, which is not properly implemented in the latest version of ur-rtde (1.5.7). A workaround or alternative solution may be needed.Additional Information
ur-rtde 1.5.8 is supposed to add this functionality in python, however it is not currently available