Hello,

I have a question about our Jaco2 7DOF arm. Is it possible to disable the gravity compensation in torque control mode? We tried uncommenting the last line in the robot_parameters.yaml file:

com_parameters: [0,0,0,0,0,0,0, 0,0,0,0,0,0,0, 0,0,0,0,0,0,0, 0,0,0,0,0,0,0]

and then calling the service: in/settorquecontrol_parameters

but the arm replies with the error code 9999 and it does not update the CoM parameters. It would be useful for us to disable the embedded gravity compensation and use our functions, either with a user-level procedure (e.g. calling a service) or writing a dedicated software node that calls some API function to achieve it. Can you please give us some advice on this?

Here is some info about our arm: Serial number: PJ00900007150510003 Firmware version: 6.1.16.0

Thanks in advance for the reply.