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kth-ros-pkg / force_torque_tools

Tools for gravity compensation and force-torque sensor calibration.
BSD 3-Clause "New" or "Revised" License
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added joint position support and increased planning time #3

Open MaxDennerle opened 10 years ago

MaxDennerle commented 10 years ago

As promised, here is the pull request: I added a very simple form of joint position support. You can now set the bool "use_joints" in the calib_params.yaml to true, when you want to use joints instead of cartesian coordinates. The pose lists will then be interpreted as 6 joints.

fevb commented 10 years ago

Seems good to me, but to make it more robot generic I would allow a variable number of joints to be put in as parameters. Also, for sake of clarity it would be better to have the joint position targets in a separate parameter in the yaml file and a separate variable in the code to distinguish them from cartesian pose targets