Simplify KDL joint weights parameters

moveit / moveit2

:robot: MoveIt for ROS 2

https://moveit.ai/

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Simplify KDL joint weights parameters #2756

Closed sea-bass closed 2 months ago

sea-bass commented 4 months ago

In https://github.com/ros-planning/moveit2/pull/2750 we introduced a stop-gap for fixing the KDL IK plugin parameters so that CI passes due to some breaking changes in generate_parameter_library.

Ideally, we should change generate_parameter_library to support a simpler way of expressing these weights, for example:

  weights:
    joint1: 2.0
    joint5: 1.5

github-actions[bot] commented 2 months ago

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

sjahr commented 2 months ago

I think this got addressed by https://github.com/moveit/moveit2/pull/2750#issuecomment-2008642278. @sea-bass feel free to re-open this issue if that's not the case