ArcEye

**Comment by [amitgoradia](https://github.com/amitgoradia)** _Tue Dec 9 17:34:06 2014_ ---- @Rob excellent point about the fundamental difference between path-following and jogging/motion-without-a pre-defined-endpoint. About Wally 3D Printer, the forward kinematics are defined...

**Comment by [robEllenberg](https://github.com/robEllenberg)** _Tue Dec 9 17:49:01 2014_ ---- @amitgoradia Thanks! Do you think path-following is necessary for what the tele-op planner currently does? My understanding was that tele-op mode...

**Comment by [amitgoradia](https://github.com/amitgoradia)** _Tue Dec 9 17:53:50 2014_ ---- Another issue that needs to be addressed for a full kinematics implementation is a world space command velocity and acceleration limit....

**Comment by [amitgoradia](https://github.com/amitgoradia)** _Tue Dec 9 18:05:44 2014_ ---- @Rob: My take is the the difference in the teleop v/s free planner is the kinematics module. The free planner does...

**Comment by [robEllenberg](https://github.com/robEllenberg)** _Tue Dec 9 18:28:49 2014_ ---- @amitgoradia I think I see what you're getting at in regards to the free / teleop planner. Is there an advantage...

**Comment by [amitgoradia](https://github.com/amitgoradia)** _Tue Dec 9 18:42:24 2014_ ---- @Rob: If I understand correctly, what you suggest may violate workspace constraints. and the axis may not move in a straight...

**Comment by [robEllenberg](https://github.com/robEllenberg)** _Tue Dec 9 19:02:02 2014_ ---- @amitgoradia That makes sense. If the goal is too far from the initial position, and the kinematics are very non-linear (like...

**Comment by [amitgoradia](https://github.com/amitgoradia)** _Tue Dec 9 19:16:00 2014_ ---- If we have the teleop mode planner generating intermediate points, which would then be put into a trajectory planner at the...

**Comment by [robEllenberg](https://github.com/robEllenberg)** _Tue Dec 9 21:30:44 2014_ ---- The way I was thinking is to update the joint-space goal before it actually reached the intermediate goal, so that it...

**Comment by [mhaberler](https://github.com/mhaberler)** _Sat Jan 3 01:01:50 2015_ ---- I cannot discern a difference between teleop and coord mode except for the conditions entering the mode, and the source &...