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if previous joint positions are provided, the solutions are sorted by proximity to them (closest first)
for kinematic singularity at J5 = 0° or J5 = ±180° positions this solver provides reasonable J4 and J6 values close to the previous positions of these joints (and not arbitrary that may result in a large jerk of the real robot)
I don't think those features are available in the C++ implementation (this repo), and if not, do you think you could integrate in a near future ?
Thank you.
The text was updated successfully, but these errors were encountered:
yvanblanchard
changed the title
Lib adaptation for solutions sorting (using previous solution) and wrist singularity
Kinematic solutions sorting (using previous solution) and wrist singularity management
May 1, 2024
Hello
I know that the lib opw kinematics written in Rust (https://github.com/bourumir-wyngs/rs-opw-kinematics) integrates two interesting features:
I don't think those features are available in the C++ implementation (this repo), and if not, do you think you could integrate in a near future ?
Thank you.
The text was updated successfully, but these errors were encountered: