Enable force mode compatibility with various move types #230
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The joint positions used for checks and interpolations needs to be without force mode modifies.
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## master #230 +/- ##
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+ Coverage 71.79% 71.82% +0.03%
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Files 71 71
Lines 2783 2783
Branches 351 351
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+ Hits 1998 1999 +1
Misses 594 594
+ Partials 191 190 -1 ☔ View full report in Codecov by Sentry. |
urfeex
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…ots#230) This should make force mode work with various of move types. With this commit, the joint positions used for checks and interpolations is now done without force mode modifications. When the robot is in an offset situation, where the robot isn't at the position that is currently used for motion commands, this will use the non-offset position to check whether a new motion is within the reachable limits of the robot.
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This should make force mode work with various of move types.
With this commit, the joint positions used for checks and interpolations is now done without force mode modifies.
This commit relates to #138