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Revision history [back]

I was pretty sad that the out-of-the-box MoveIt experience was far from satisfactory so I created a fork and a new branch from the open_manipulator packages: https://github.com/dudasdavid/open_manipulator/tree/melodic-fixes

Changes:

Custom 4DoF IK solver added, based on this issue from Humpelstilzchen
open_manipulator_controller can handle gripper requests from MoveIt
Gripper is added to MoveIt config

Video about the changes:

https://youtu.be/mm2vKYH-Jy8

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