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Simulation mode with external path planner

Would it be possible to add a feature to the API, to control the robot in simulation mode only, using an external path planner? In other words, set each joint speed independently.

Thank you.
I'm not sure I understand your suggestion. Do you mean set the robot joints?

You can iteratively set the robot joints through the API by using the setJoints command.
Hi Albert,

The setJoints command sets the joints absolute positions. I meant to set the joints velocities. Instead of sending joints positions, I would like to know if it is possible to set joints velocities and update it on-the-fly, disabling the built-in position control mode.
This can be done but requires some integration and it is not robot agnostic. I recommend you to take a look at the InstructionListJoints function:

You should then customize how you stream the data to the robot to make the robot move.

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