> - This is still a feature in development? or is it already integrated (I see a pull request on th git...)
Developed, but not yet integrated.
> - This will update both the RTC openRTM component and the hrpsys library, right?
I do not know what you meant by "hrpsys library", but it updates RTC component.
> - So we will be able to call this function through the python interface, I understand.
> - BUT what we are using is more in cartesian space: SetTargetPose(). Will SetTargetPose() now implement the setJointAnglesSequence() in a lower level?
No, `setTargetPose` uses old version of `setJointAnglesSequence`, and
once everyone confirms that the new version of
`setJointAngelsSequence` is stable, we'll rewrite setTargetpose using
new version. So you do not have to rewrite your code. Good point.
> - Will you add a function such as InterruptMotion() to interrupt all motions?
Looks like the developers have not decided yet, at this moment they
expect users send new trajectory and that override current target, so
if you send current position as a new target, then the robot stops.
> - How does this affects the MoveIt interface? Will you also implement the MoveIt trajectory execution with setJointAnglesSequence()?
> - And will you then implement the MoveIT move_group.cancel() function in the ros bridge?
That is related to hrpsys ros bridge, which uses old version of
setJointAnglesSequence and we'll also rewrite this using new version,
and also enable cancellation behavior of actionlib.