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UM-ARM-Lab / kuka_iiwa_interface

Developmental controllers for the IIWA 7 robot, including a Catkinized version of the Kuka FRI SDK
BSD 2-Clause "Simplified" License
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Storage of named positions #134

Open bsaund opened 3 years ago

bsaund commented 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)

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

bsaund commented 3 years ago

Related to: https://github.com/UM-ARM-Lab/kuka_iiwa_interface/issues/70

bsaund commented 3 years ago

We decided to put these in the SRDF and use moveit's named position manager

bsaund commented 3 years ago

Actual resolution https://github.com/UM-ARM-Lab/kuka_iiwa_interface/pull/145 https://github.com/UM-ARM-Lab/arm_robots/pull/69