{"push_id":2469911939,"size":2,"distinct_size":2,"ref":"refs/heads/kinematics_gravity_torques","head":"38520d56e3a7b85f2f9f005a5bdc9bb180951ebe","before":"e1bc23896d6e10d81d0d3e41b512335e177b7d17","commits":[{"sha":"f286382f3efad3f2e1d8587c8a5b9d7707956465","author":{"name":"Ian McMahon","email":"57a33a5496950fec8433e4dd83347673459dcdfc@ianthe.engineer"},"message":"Fixed Gravity Compensation Torque Calculation\n\n- Adds compensation for Coreolis Torques (from actual velocity)\n- Adds compensation for Inertial Torques (from commanded acceleration)\n- Fixed bug with Zero-initialization of KDL JointArrays, which\n  would cause jitter in the simulated arm\n- Use full gravity_model_effort which composes Gravity,\n  Coreolis, and Inertial Torques instead of just gravity_only\n- Removed unused PID values for torque and gravity controllers\n- Retuned Position PID controller","distinct":true,"url":"https://api.github.com/repos/RethinkRobotics/sawyer_simulator/commits/f286382f3efad3f2e1d8587c8a5b9d7707956465"},{"sha":"38520d56e3a7b85f2f9f005a5bdc9bb180951ebe","author":{"name":"Ian McMahon","email":"57a33a5496950fec8433e4dd83347673459dcdfc@ianthe.engineer"},"message":"Adds new params for sawyer_world launch\n\n- Adds pedestal param to launch to allow removing pedestal\n- Adds static param to allow the robot base to move in Gazebo\n- Adds initial_joint_states param, but it's not (currently) functional\n- Adds load_gazebo param, to allow for gazebo to be launched separate","distinct":true,"url":"https://api.github.com/repos/RethinkRobotics/sawyer_simulator/commits/38520d56e3a7b85f2f9f005a5bdc9bb180951ebe"}]}
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