QB Robotics SoftHand2 Research General Manual page 35

speed through the bottom speed scaling slider if you like a faster/slower motion. No other timing
constraints can be set in this mode.
2. Waypoint Control
This control mode is a bit more structured and useful than the previous: it allows to set a fixed trajectory
of any number of position waypoints (with timing constraints) and set the robot to cycle infinitely on it
(because of the loop it is recommended to set the first and last waypoint in a similar configuration to
avoid unwanted sudden changes).
To start this mode just add
the opposite
use_controller_gui
qb SoftHand2 Research should start moving according to the given trajectory, parsed from a yaml file
located at
Figure 9. — qb SoftHand ROS GUI control
use_waypoints:=true
is not used). You won't see any control interface in this case but the
QBSOFTHAND2 RESEARCH USER MANUAL — 31
to the general
roslaunch
command (be sure that