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    <div class="moz-cite-prefix">On 06/05/2013 09:40 PM, Jonathan Bohren
      wrote:<br>
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cite="mid:CADy-PFi0_Q2ckomE=7UoGnrEYMpz9KRxexOQ-YMcHFYqoohVgw@mail.gmail.com"
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          <div class="gmail_quote">On Wed, Jun 5, 2013 at 1:18 PM,
            Konrad Banachowicz <span dir="ltr"><<a
                moz-do-not-send="true" href="mailto:konradb3@gmail.com"
                target="_blank">konradb3@gmail.com</a>></span> wrote:<br>
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0.8ex;border-left-width:1px;border-left-color:rgb(204,204,204);border-left-style:solid;padding-left:1ex">
              <pre>[CartesianTrajectoryGoal]
Header header  # A stamp of 0 means "execute now"




string[] effector_names
<span></span>CartesianTrajectory[] trajectory
  PoseStamped tool  # The frame which is being controlled
<span></span>  CartesianTrajectoryPoint[] points
<span></span>    duration time_from_start
<span></span>    Pose pose
<span></span>    Twist twist
CartesianImpedance[] impedance
    TBD stiffness % cartesian stiffness 
    TBD damping % damping ratio
CartesianTolerance[] path_tolerance  # Tolerance for aborting the path
<span></span>  float64 position
<span></span>  float64 orientation  # Permitted angular error
<span></span>  float64 velocity
<span></span>  float64 angular_velocity
<span></span>CartesianTolerance[] goal_tolerance  # Tolerance for when reaching the goal is considered successful
JointTrajectory posture  # For determining the redundancy
JointImpedance nullspace_impedance # TBD


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        <div class="gmail_extra" style="">I like where this version is
          going!</div>
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    Konrad's proposition looks indeed promising. However, I'd like to
    point out that this is more than a Cartesian Trajectory. This looks
    more like a goal message to a very sophisticated controller, e.g.
    whole-body motion framework or iTaSC. Shouldn't the Cartesian
    Trajectory msg be somewhat smaller in scope and then be reused?
    Maybe more like in the spirit of std_msgs which are mainly used as
    building blocks for bigger and semantically annotated messages?<br>
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cite="mid:CADy-PFi0_Q2ckomE=7UoGnrEYMpz9KRxexOQ-YMcHFYqoohVgw@mail.gmail.com"
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        <div class="gmail_extra" style="">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?</div>
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        <div class="gmail_extra" style="">[1] <a moz-do-not-send="true"
href="http://ros.org/wiki/trajectory_msgs/Reviews/Cartesian%20Trajectories_API_Review_2013_06_05">http://ros.org/wiki/trajectory_msgs/Reviews/Cartesian%20Trajectories_API_Review_2013_06_05</a></div>
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    Good idea. From now on moving to the REP?<br>
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        <div class="gmail_extra">-j<br>
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          -- <br>
          Jonathan Bohren<br>
          Laboratory for Computational Sensing and Robotics<br>
          <a moz-do-not-send="true"
            href="http://dscl.lcsr.jhu.edu/People/JonathanBohren">http://dscl.lcsr.jhu.edu/People/JonathanBohren</a><br>
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