Open bsaund opened 3 years ago
Currently "Named Positions" are stored in two places (as discussed in https://github.com/UM-ARM-Lab/kuka_iiwa_interface/pull/133)
arm_robots
There are advantages to putting in SRDF, namely it works with existing moveit/ros tools
The main disadvantage I see is the srdf notation is annoyingly cumbersome and less flexible than python
Related to: https://github.com/UM-ARM-Lab/kuka_iiwa_interface/issues/70
We decided to put these in the SRDF and use moveit's named position manager
Actual resolution https://github.com/UM-ARM-Lab/kuka_iiwa_interface/pull/145 https://github.com/UM-ARM-Lab/arm_robots/pull/69
Currently "Named Positions" are stored in two places (as discussed in https://github.com/UM-ARM-Lab/kuka_iiwa_interface/pull/133)
arm_robots
: https://github.com/UM-ARM-Lab/arm_robots/blob/dcab6b06a7fbad4585bd0ea28ca1c51fc9091421/arm_robots/src/arm_robots/config/victor_config.py#L69There are advantages to putting in SRDF, namely it works with existing moveit/ros tools
The main disadvantage I see is the srdf notation is annoyingly cumbersome and less flexible than python