Fix arm bioik tolerances

jeferal commented 1 year ago

Proposed changes

Defining dpos and drot parameters for the manipulator when using bio_ik/BioIKKinematicsPlugin. If they are not defined, then the default ones would be used, which would cause innacurate IK solutions (1cm and 20deg).

Checklist

Before posting a PR ensure that from each of the below categories AT LEAST ONE BOX HAS BEEN CHECKED. If more than one category is applicable then more can be checked. Also ensure that the proposed changes have been filled out with relevant information for reviewers.

Tests

[ ] No tests required to be added. (For small changes that will be tested by CI/CD infrastructure).
[ ] Added/Modified automated and PhantomHand CI tests (if a new class is added (Python or C++), the interface of that class must be unit tested).
[ ] Manually tested in simulation (if simulation specific or no hardware required to test the functionality).
[ ] Manually tested on hardware (if hardware specific or related).

Documentation

[ ] No documentation required to be added.
[ ] Added documentation (For any new feature, explain what it does and how to use it. Write the documentation in a relevant space, e.g. Github, Confluence, etc).
[ ] Updated documentation (For changes to pre-existing features mentioned in the documentation).

carebare47 commented 1 year ago

Can someone add a sentence or two to the PR explaining the change?

codecov[bot] commented 1 year ago

Codecov Report

Merging #838 (dae4eb0) into noetic-devel (48ef110) will not change coverage. The diff coverage is n/a.

@@              Coverage Diff              @@
##           noetic-devel     #838   +/-   ##
=============================================
  Coverage         17.31%   17.31%           
=============================================
  Files                12       12           
  Lines               999      999           
  Branches            637      637           
=============================================
  Hits                173      173           
  Misses              543      543           
  Partials            283      283

shadow-robot / sr_interface