Closed ugocupcic closed 9 years ago
I started migrating the demo some time ago. In this branch (https://github.com/shadow-robot/sr-ros-interface/compare/F_migrate_demo_to_robot_commander) you can also find some filtering for the hand to allow to hide J1 and J2 from the user, and show them as J0.
The filtering function we also converted to degrees.
As requested by @adelarosat, we need a "degree" mode for an easier to use robot commander.
The easy way to do this would be to:
degrees=False
to the...joint_value_target
functions in the robot_commander (for example here )degrees is True
and convert the degrees to radians in the provided joint states (using math.degrees).Don't forget to update the doc and example!