Thank you for testing the Universal Robots Isaac driver!
To evaluate the new Isaac driver release and develop the driver further, we hope you will take a few minutes to provide feedback. We look forward to hearing if you have tested the driver, how well you think its working, and suggestions for improvement.
Please report bugs and incomplete functionality as issues in the respective GitHub repository.
You can access the release from the master branch of the GitHub Universal_Robots_Isaac_driver.
About Your Setup
This release contains several new features.
This includes speed scaling aware controller, transparent integration of the teach pendant and using UR robots without interacting with the teach pendant.
When the speed scaling is active due to safety constraints or the speed slider is used, this gets correctly handled by the ScaledMultiJointController slowing down trajectory execution accordingly.
Using the URCap External control, a program is running on the robot that handles control commands sent from the Isaac side. With this, the robot’s speed can be adjusted using the speedscaling on the teach pendant as well as enable paused, resumed and safeguard stop without restarting the Isaac driver. It also enables the possibility for the driver to be a component in a larger robot program.
A codelet serves as an interface between an Isaac application and the UR robots dashboard server. This enables the possibility to use Isaac applications without interacting with teach pendant at all. A robot program can be e.g., be started and stopped through an Isaac application.
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