RethinkRobotics / baxter

Baxter Research Robot SDK
www.rethinkrobotics.com/sdk
BSD 3-Clause "New" or "Revised" License
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Tuck Arms rewrite to handle Ctrl-C and partial tucks #126

Closed rethink-rlinsalata closed 10 years ago

rethink-rlinsalata commented 10 years ago

This fixes the issue with tuck_arms where untucking would not succeed if arms were out of the "tuck pose" but still behind the head collision field. It also handles Ctrl-C and partial tucks where one arm is tucked/flipped and the other is not.

Addresses trac ticket: 7683