New functionality to save the Robot State to file and load it back.#523
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New functionality to save the Robot State to file and load it back.#523kineticsystem wants to merge 1 commit intomainfrom
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Rebased to pick up CI fix. |
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MikeWrock
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| state="active" | ||
| /> | ||
| <Action | ||
| ID="SwitchController" |
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I was getting errors the activate and deactivate list was empty, I think because I didnt have any active controllers when I ran the objective. We can wrap all these switchcontrollers in a forceSuccess right? their only purpose is to return the controller to the state it started at?
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This PR is linked to https://github.com/PickNikRobotics/moveit_pro/pull/17205
In this PR, I created two new sample objectives.
Save Robot Joint State to save the Robot State to a predefined YAML file.
Load MuJoCo Robot State to load the Robot State from the predefined YAML and reset the robot state in MuJoCo simulation.