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Published 20 hours ago • verified publisher icon RethinkRobotics-opensource

Make multitask MATLAB script more robust

Open Mark-Finegan opened this issue 6 years ago • 1 comments
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Fixes a bug where joint velocities could exceed joint limits in cases where dropCorrectionTerm was not used. Removed need to rerun algorithm with dropCorrectionTerm once the DoF is less than the task dimension

Master test results: image

New test results: image

Mark-Finegan avatar Sep 24 '19 17:09 Mark-Finegan

These matlab changes look fine.

forrest-rm avatar Dec 27 '20 17:12 forrest-rm