WIP Expose an interface for passing in a function to translate joint values to grasp width#97
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lucarinelli wants to merge 3 commits intomoveit:masterfrom
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WIP Expose an interface for passing in a function to translate joint values to grasp width#97lucarinelli wants to merge 3 commits intomoveit:masterfrom
lucarinelli wants to merge 3 commits intomoveit:masterfrom
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… values to grasp width
Codecov Report
@@ Coverage Diff @@
## master #97 +/- ##
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- Coverage 69.65% 69.64% -0.02%
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Files 32 32
Lines 1717 1723 +6
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+ Hits 1196 1200 +4
- Misses 521 523 +2
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These changes should address this comment from @mlautman
https://github.com/ros-planning/moveit_grasps/blob/f1d4fdaa7ba2e5e50e1f3841a5d699644fe790ef/src/two_finger_grasp_data.cpp#L125-L128
Making possible for the user to pass a function during the grasp data construction in the demo grasp pipeline setup
https://github.com/ros-planning/moveit_grasps/blob/f1d4fdaa7ba2e5e50e1f3841a5d699644fe790ef/src/demo/grasp_pipeline_demo.cpp#L142-L147
The original interpolation behavior is kept as a default if no function is specified.
I'm using this with a gripper of which I'm controlling the opening width through a single motorized joint providing the angle in radiants