Double check hand commander

shadow-robot / sr-ros-interface

A ROS interface for Shadow Robot's hand.

GNU General Public License v2.0

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Double check hand commander #373

Closed ugocupcic closed 8 years ago

ugocupcic commented 9 years ago

Do we have all the functionalities we discussed:

[x] store poses in db (from gui / current pose)
[x] retrieve them and compose trajectory from multiple poses
[x] cancel / override current command

And the live mode: use any ros callbacks, create new (partial) traj, send it to the controller (override)

dg-shadow commented 9 years ago

What does partial trajectory mean in this context?

ugocupcic commented 9 years ago

That's probably not working yet - it's based on @beatrizleon new controllers. If a trajectory for the whole hand is being run, sending a new trajectory for a sub-list of joints.

dg-shadow commented 9 years ago

We may have an interesting issue... @beatrizleon I think you realised this already... At the moment all trajectories are based on turning robot states into cartesian poses. How will that work with the hand?