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Adds the absolute Z-axis sibling to `iswap_rotation_drive_move_x` (#1018) and `iswap_rotation_drive_move_y` (#1020). Wraps `R0 ZA` and accepts the rotation-drive plane Z (matching `iswap_rotation_drive_request_z`); the 13 mm offset to the gripper finger plane is applied internally. `acceleration` is exposed in mm/sec^2. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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stacked on #1020 |
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Tame the iSWAP - Part 8thank you @rickwierenga ! |
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Have you checked whether is iswap gripper z-height + 13? |
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is that something we defined or is that native to the firmware? what's the best way to check? here i am using the firmware frame for z |
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The easiest way to check is to use this move z command, and the check the position of the iSWAP - currently still set to the gripper finger center |
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We know this distance from the operator manual, se #1011 |
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Cross-verified on our STAR, command works as expected: 
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PLR users expect left-front-bottom referencing; for channels this changes to center-center in x-y but in z people still expect bottom; since we are referencing the actual rotation drive here and its bottom is 13 mm above the finger_z_plane I have added a short comment to make this clearer
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follow up to #1018 and #1020
@BioCam