ROS2 – Extend the cartesian control to the group arm + torso (to extend iCub reachability).

[Nicogene]

This is a follow-up of #8

We would like to achieve the same result but using the group of joints torso+arm

cc @pattacini

[martinaxgloria]

In the past few days, I worked on the design of the demo in a simulation environment (see https://github.com/icub-tech-iit/study-moveit/issues/13). In particular, I succeeded in sending a command to let ergoCub compute a linear trajectory by using torso + left arm in cartesian space.

For this reason, if you agree, I could close this issue and let https://github.com/icub-tech-iit/study-moveit/issues/13 open to track the progress.

cc @pattacini @Nicogene

[pattacini]

Agreed 👍🏻