v1.2.0 - Hold Up!

[Woolfrey]

✨ New Features

• New HoldConfiguration action that runs indefinite feedback control on a fixed joint configuration.
• New HoldPose action that runs indefinite feedback control on a fixed endpoint pose.
• Action servers can run velocity control, or new torque control with updates to RobotLibrary

💥 Breaking Changes

• References to cartesian_stiffness and cartesian_damping changes to cartesian_pose_gain and cartesian_velocity_gain, respectively, to reflect changes in RobotLibrary.

🐛 Bugs:

• There appears to be a bug in the TrackCartesianTrajectory action implementation where orientation will randomly (albeit infrequently) rotate by over 90 degrees. I have no idea why 😭

Full Changelog: v1.1.0...v1.2.0

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This discussion was created from the release v1.2.0 - Hold Up!.