Cartesian goal conversion #24
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@Nibanovic, all pull requests must be targeted towards the |
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Instead of assigning the cartesian goal directly in
AdmittanceRule, tried converting the goal to joint-space when message arrives.This way, little has to be changed in
AdmittanceRule.Result of this change is not satisfactory, as the conversion is not very precise. Details in my report.
TLDR, i presume this is due to using jacobians for conversion, which has significant error for
delta_x > 0.1Anyways, I'd look for another way to resolve the issue of empty
reference_when giving goals overPosetopic.Note:
Before using, please review the logic in last commit, as I was losing my mind from testing by the end of it. I've left some debug prints in.