About the real-time servo of the arm.

[kentar0kozai]

First of all, thank you for all the hard work you’ve put into this project!
I’d like to use the actual TM5-900 robot for remote control and reinforcement learning.
However, I’ve learned that the tm-driver doesn’t currently support a servo control mode.
Are there any plans to add this feature in the future?

[TechmanRobotDev]

First of all, thank you for all the hard work you’ve put into this project! I’d like to use the actual TM5-900 robot for remote control and reinforcement learning. However, I’ve learned that the tm-driver doesn’t currently support a servo control mode. Are there any plans to add this feature in the future?

Thanks for your question :)
I am not quite sure the meaning of servo control mode, but you may try the new script function (2.20 or after), Velocity() or Position(). These two functions are what we call Instant Control, for example,
Position(true, "J", 150, 1, 500) // Enable instant position control by the angle Position(90,0,90,0,90,0) //Target position

Note that these scripts are not real time functions, their response time may still need 50~60ms. If you require real-time control, there would be a new function called RTRS coming up soon on TMflow 2.22. However, RTRS is not integrated with TM ROS driver yet.

FYI