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Published 20 hours ago • verified publisher icon UniversalRobots

WIP: Use anchors and aliases for each joint in controller config + cleanup

Open captain-yoshi opened this issue 3 years ago • 4 comments

This PR uses anchors and aliases on each robot joint and sets indentation level to 2 spaces (there were mixed indentation). This makes the following benefits:

  • Same indentation level (set to 2 but can be anything)
  • Consistency with string values (removed dquotes)
  • PID and trajectory/goal section is easier on the eyes...
  • Adding a prefix to joint names is easier (less search and replace)

Only did the changes for the UR3. If you think this change could be merged, I will modify the other UR config files.

captain-yoshi avatar Jun 29 '22 20:06 captain-yoshi

Something to keep in mind: anchors et al. are not part of the YAML standard.

They never made it past the draft/proposed state of YAML 1.1 (IIRC).

gavanderhoorn avatar Jun 30 '22 05:06 gavanderhoorn

This PR hasn't made any progress for quite some time and will be closed soon. Please comment if it is still relevant.

github-actions[bot] avatar Jan 24 '23 22:01 github-actions[bot]

I don't necessarily want to have this closed by a bot, hence commenting on this.

fmauch avatar Jan 27 '23 13:01 fmauch

This PR hasn't made any progress for quite some time and will be closed soon. Please comment if it is still relevant.

github-actions[bot] avatar Apr 27 '23 22:04 github-actions[bot]