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Community documentation for Grasshopper add-ons & plugins

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Experimental: Sets compliant/'soft' mode for robots running Sunrise. Does not yet support all movement commands.

Inputs

NameIDDescriptionType
KUKA|prc CommandCMDKUKA|prc command to be set to compliant mode.CommandData
Spring StiffnessSTIFFNESSStiffness in X, Y, and Z.Vector
Additional ForceFORCEAdditional force in X, Y, and Z.Vector

Outputs

NameIDDescriptionType
KUKA|prc CommandCMDTagged KUKA|prc command.CommandData

Video Tutorials

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