This project is being developed for a multidisciplinary research project at Oklahoma State University. This code simulates a quadcopter drone on a Sawer Robotic Arm.

1. - sawyer_ws/src/position_control/scripts/position_control.py
2. - sawyer_ws/src/position_control/scripts/motion_control.py
3. - sawyer_ws/src/position_control/scripts/drone_control.py
4. - sawyer_ws/src/position_control/scripts/drone_sim.py
5. - sawyer_ws/src/position_control/scripts/drone_sim_joints.py

The SDK maintains a rosservice for solving inverse kinematics problems. It is exemplified in:
sawyer_ws/src/intera_sdk/intera_examples/scripts/ik_service_client.py

Their example code is decently documented and works as a general guide. Further examples can be found in 1. and 5.

The Intera SDK contains multiple methods of controlling the arm.

The Motion Controller Interface is a simplified method of giving the arm specific waypoints. It hfas two interpolation settings: CARTESIAN and JOINT. Both serve different purposes and must be implemented in different ways.

CARTESIAN - This mode tracks linearly from point to point. It is useful