kth-ros-pkg/force_torque_tools — pull request #3 by MaxDennerle (2014-08-11 12:12:40+00:00)
Title: added joint position support and increased planning time

As promised, here is the pull request:
I added a very simple form of joint position support. You can now set the bool "use_joints" in the calib_params.yaml to true, when you want to use joints instead of cartesian coordinates. The pose lists will then be interpreted as 6 joints.