Disable position limits for shutdown trajectory and change TriFingerPro rest position #164
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This makes it easier to do operations outside of the normal limits, e.g. during initialisation or shutdown.
To allow going to a rest position outside of the normal range.
Change the final position of the shutdown trajectory from "pointing down, touching the floor" to the "minimal gravitational pull on all joints" position that is also used when powering the robot on (best for the electrical angle calibration on first run).
Update versions of everything
luator
force-pushed
the
fkloss/rest_position
branch
from
30b5bb2 to
cbc39d3
Compare
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
How I Tested
On a robot.