Remove implicit rotation of target pose#46
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nikhil-sethi wants to merge 3 commits intoros-industrial:masterfrom
Open
Remove implicit rotation of target pose#46nikhil-sethi wants to merge 3 commits intoros-industrial:masterfrom
nikhil-sethi wants to merge 3 commits intoros-industrial:masterfrom
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This was referenced Sep 4, 2025
marip8
reviewed
Sep 9, 2025
demo/model/reach_study.xacro
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| <parent link="tool0"/> | ||
| <child link="tcp"/> | ||
| <origin xyz="0 0 0.1" rpy="0 0 0"/> | ||
| <origin xyz="0 0 0.1" rpy="3.14 0 0"/> |
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| <origin xyz="0 0 0.1" rpy="3.14 0 0"/> | |
| <origin xyz="0 0 0.1" rpy="${radians(180)} 0 0"/> |
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The reach packages is updated in this MR which removes the assumption that target pose z-axis is opposing tool z-axis.
This MR updates the URDF and visualizations to respect this new change.