- Updated README.md to include examples for data collection and motion sequence testing.
- Modified setting.yaml to change the TCP link for planning from "patron" to "link_ee".
- Refactored move_to_pose_server.py to improve planner configuration readability.
- Updated setup.py to include motion_config.json in package resources and added a new console script for testing motion sequences.
- Introduced motion_config.json to define home joints and poses for motion sequences.
- Added test_motion_sequence.py to implement a test runner for executing motion sequences and recording data to a bag file.
- Implemented action servers for MoveToPose and MoveToJoints.
- Added service for MoveToNamedPose and stop action.
- Updated README with usage examples for new actions.
- Enhanced planning configurations in YAML and Python files.
- Removed deprecated motion planning scripts.
- Implement move_to_pose_server for motion planning using MoveIt
- Create iiwa_msgs package with MoveToPose service definition
- Update iiwa.launch.py to include move_to_pose_server node
- Modify joint_limits.yaml to add position limits for joints
- Remove iiwa_voice package and related files
Даниил Грабарь