sns_ik
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RethinkRobotics-opensource
Saturation in the Null Space (SNS) Inverse Kinematic Library
Investigate how having a dynamic step, or using line search, improves the success rate of the SNS position solver starting from random seeds. The dynamic-step branch is one possible solution.
In sns_ik, ns_bias should be the last argument in the CartToJnt function. That way we won't need to re-arrange the arguments with & without using the nullspace. Similar changes may...
Without something like this in the CMakeLists.txt file of a package depending on this library: ``` # Verify c++11 / c++0x is valid for this compiler include(CheckCXXCompilerFlag) CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) CHECK_CXX_COMPILER_FLAG("-std=c++0x"...
As the pseudocode of Algorithm 1 given in the paper (motion control of redundant robots under joint constraints:Saturation in the Null Space), the whloe loop is as same as the...
I want to create a working SNS IK Plugin for MoveIt on ROS noetic to have it working on my sawyer robot. I can't seem to figure out from the...
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Saturation in the Null Space (SNS) Inverse Kinematic Library