On Wed, Jun 5, 2013 at 1:18 PM, Konrad Banachowicz wrote: > [CartesianTrajectoryGoal] > Header header # A stamp of 0 means "execute now" > > > > string[] effector_names > CartesianTrajectory[] trajectory > PoseStamped tool # The frame which is being controlled CartesianTrajectoryPoint[] points duration time_from_start Pose pose Twist twist > CartesianImpedance[] impedance > TBD stiffness % cartesian stiffness > TBD damping % damping ratio > CartesianTolerance[] path_tolerance # Tolerance for aborting the path float64 position float64 orientation # Permitted angular error float64 velocity float64 angular_velocityCartesianTolerance[] goal_tolerance # Tolerance for when reaching the goal is considered successful > JointTrajectory posture # For determining the redundancy > JointImpedance nullspace_impedance # TBD > > I like where this version is going! Meanwhile, between comments in different mailing lists, and comments on the wiki in the old robot_mechanism_controllers, it'd be great if we could aggregate this discussion. Really it seems like this is an extension to the trajectory_msgs package, so maybe we can do an online review where people can propose and comment on different options and subjects. I've started one [1] with the initial proposal from the old wg review, and added Konrad's proposal above (feel free to remove/edit that, Konrad). I think we can use the robot control SIG to coordinate, and ping ros-users for high-level notices. Then when we've at least gotten the scope down, we can initiate an REP request. How does that sound? [1] http://ros.org/wiki/trajectory_msgs/Reviews/Cartesian%20Trajectories_API_Review_2013_06_05 -j -- Jonathan Bohren Laboratory for Computational Sensing and Robotics http://dscl.lcsr.jhu.edu/People/JonathanBohren