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allow change effector mass and ignore rotations #31

Merged
merged 6 commits into from
Aug 28, 2024
Merged

allow change effector mass and ignore rotations #31

merged 6 commits into from
Aug 28, 2024

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tpoignonec
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@tpoignonec tpoignonec commented Aug 27, 2024 •
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New features:

  • change effector mass

    • Use-case: custom end effector (e.g., added force torqe sensor).
    • Implementation: parameter effector_mass in hardware interface.

  • ignore orientation readings

    • Use-case: you want to get the hardware interfaces for the orientation, but you don't want the orientation to change (useful in some teleoperation scenarios)
    • Implementation: parameter ignore_orientation_readings in hardware interface.

@tpoignonec tpoignonec self-assigned this Aug 27, 2024
@tpoignonec tpoignonec added enhancement New feature or request backport-humble labels Aug 27, 2024
@tpoignonec tpoignonec changed the title allow change effector mass allow change effector mass and ignore rotations Aug 28, 2024
@tpoignonec tpoignonec merged commit a679955 into main Aug 28, 2024
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@tpoignonec tpoignonec deleted the tpoignonec-allow_change_effector_mass branch August 28, 2024 09:54
mergify bot pushed a commit that referenced this pull request Aug 28, 2024
@tpoignonec @mergify
allow change effector mass and ignore rotations (#31)
291702a 
* add effector mass management

* fix effector mass parameter reading

* add option to ignore orientation readings (i.e., exporting the interfaces, but setting them to zero)

* add "ignore_orientation_readings" to config

* add default masses

(cherry picked from commit a679955)
@mergify mergify bot mentioned this pull request Aug 28, 2024
Merged
tpoignonec added a commit that referenced this pull request Aug 28, 2024
@mergify @tpoignonec
allow change effector mass and ignore rotations (#31) (#32)
5d98d9a 
* add effector mass management

* fix effector mass parameter reading

* add option to ignore orientation readings (i.e., exporting the interfaces, but setting them to zero)

* add "ignore_orientation_readings" to config

* add default masses

(cherry picked from commit a679955)

Co-authored-by: Thibault Poignonec <79221188+tpoignonec@users.noreply.github.com>
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