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Implement correct pre/post poses in tool frame pose #1

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GreatAlexander opened this issue Feb 10, 2016 · 1 comment

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enhancement PicknPlace

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GreatAlexander commented Feb 10, 2016

Currently we assume only top-down manipulation, thus pre/post grasp is the same: Z += 0.1
We need to calculate it in the tool frame pose.

GreatAlexander added enhancement PicknPlace labels

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23pointsNorth commented Feb 10, 2016

Maybe we can specify it somehow from here - https://github.com/ipab-rad/rad_pr2_stack/blob/dev/pr2_picknplace/src/pick_place.cpp#L364 just expand the move group joint model?

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