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Quaternion in grasp manager does not behave properly #14

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GreatAlexander opened this issue Jun 10, 2016 · 0 comments
Open

Quaternion in grasp manager does not behave properly #14

GreatAlexander opened this issue Jun 10, 2016 · 0 comments
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GreatAlexander commented Jun 10, 2016 •
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Currently a fiendish hack allows the PR2 to rotate the wrist properly, but this needs to be fixed.

Commit cd956a0 presents the problem and attempts but fails to fix the issue.

Given a PR2 requested wrist roll, produce quaternion of desired yaw rotation about base_link.
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