Update ur kinematics #616
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Update ur kinematics #616
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BTW: The DH parameters are extracted from https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/ |
RobertWilbrandt
suggested changes
Nov 8, 2022
Since the state of this package questionable at the current point, let's disable releasing it for now.
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RobertWilbrandt
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Nov 8, 2022
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Was this merged with a squash-merge? Please only use those for single-commit PRs. |
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I would have squashed the PR anyway, so we simply skipped that step. |
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Why? All 4 commits make sense to me to be separate commits. Thematically they don't belong together, so better to keep them as separate commits. |
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OK, I'll keep that in mind in future. |
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In #613 I collected a couple of reasons why I think that ur_kinematics is currently flawed. This PR addresses a couple of them.
kinematics_solver_attemptsas suggested in Fix MoveIt API change error for attempts #474kinematics.yamlfilesSince I still see issues with using this plugin due to its problems regarding robot calibration I added a README to inform users about this concern.
This closes #460