jschleicher

Sounds good. Probably this is better than an additional `/reset` service that the user can trigger in addtion before the `/init` service.

The failing test seems unrelated. Re-opening to start another travis run.

Okay, citing @agutenkunst (see [#102-issuecomment-467816895](https://github.com/PilzDE/pilz_industrial_motion/issues/102#issuecomment-467816895)) this requires changing the `ROBOT_API`, since the custom python code could move the robot differently after this change.

@agutenkunst @martiniil any progress?

At least for the given example you could implement the desired behaviour by passing the previous goal instead of the current pose in https://github.com/PilzDE/pilz_industrial_motion/blob/bd5a71ccb64559fbd050525b761af6b7afa70fb0/pilz_robot_programming/src/pilz_robot_programming/commands.py#L277 This would at least work for...

Yes, I'd suggest to support cartesian-only-sequences with relative. I think that covers your use case @JonathanGruner Once an intermediate point is given in joint angles, the pose would have to...

Related: https://www.ros.org/reps/rep-2004.html

Please see [ROS-I wiki: Create URDF for an Industrial Robot](http://wiki.ros.org/Industrial/Tutorials/Create%20a%20URDF%20for%20an%20Industrial%20Robot#Additional.2BAC8-Standard_Frames) for a description of standard frames. Yes, it is possible to move the robot around / move prbt_base to not...

Yep, we would be glad to see such an addition as PR. This is related to #214 . Please note, that the code is now moved as plugin into [upstream...

That's why we suggest `math.radians` inside [prbt_default_application](https://github.com/PilzDE/pilz_application_templates/blob/497306052d37ac0603673af2f2f35ddc2beaaadd/prbt_default_application/scripts/myApplication.py#L22-L23): ``` pick_pose = Pose(position=Point(0, -0.5, 0.25), # cartesian coordinates orientation=quaternion_from_euler( 0, math.radians(180), math.radians(0))) ``` So I agree with @gavanderhoorn that this is mostly...