ipa-325/force_torque_tools — pull request #1 by MaxDennerle (2014-08-11 12:00:29+00:00)
Title: added joint position support and increased planning time

Here the promised pull request:
I made some simple changes to the program to support joint positions. You only have to set the use_joints parameter to true in the calib.yaml. The list of 6 cartesian coordinates will then be used as 6 joints.