Single motor control of end-effector actuator

[smruti-s]

As mentioned in the previous discussion here : #8
We are using our own end-effector for the Interbotix 5-DOF ViperX 300.

We want to actuate the end-effector motor separately from the rest of the motors on the arm using position control outside of Moveit i.e. send a single command to the servo so that it moves to a particular angle.

Is there a good way to do this using the sdk without removing the reference to the "gripper" in all the packages ?

[lukeschmitt-tr]

You can send commands to individual joints using the JointSingleCommand message type on the "commands/joint_single" topic. The arm reacts to the commands differently depending on the operating mode that it is in.

If you would like to change the operating mode of the gripper joint to something other than the default of pwm, change the mode parameter in the xsarm_control/modes.yaml configuration file. Note that the arm may experience over-torquing if it cannot achieve the commanded position.

[smruti-s]

This worked! Thank you!