Currently a fiendish hack allows the PR2 to rotate the wrist properly, but this needs to be fixed.
Commit cd956a0 presents the problem and attempts but fails to fix the issue.
Given a PR2 requested wrist roll, produce quaternion of desired yaw rotation about base_link.
Currently a fiendish hack allows the PR2 to rotate the wrist properly, but this needs to be fixed.
Commit cd956a0 presents the problem and attempts but fails to fix the issue.
Given a PR2 requested wrist roll, produce quaternion of desired yaw rotation about base_link.