Garrett Johnson

As of version 5.x webpack can bundle web workers out of the box with the following syntax: ```js new Worker( new URL( "./worker", import.meta.url ), { type: "module" } )...

Got it -- makes sense. Reworking the parsing for unary ops sounds like a large task. As a smaller adjustment it might be nice to add support for just `&&`...

Another option is exponential maps (#30). See appendix B here: https://www2.ccs.neu.edu/research/gpc/publications/Vona__2009__Virtual_Articulation_and_Kinematic_Abstraction_in_Robotics.pdf http://www.cs.cmu.edu/~spiff/moedit99/expmap.pdf

Places that need to change if the joint is 3 rotational DoF: **Joint Target Error** Target error is just used for determining how far a joint is away from it's...

In [Appendix B of this paper](https://www2.ccs.neu.edu/research/gpc/publications/Vona__2009__Virtual_Articulation_and_Kinematic_Abstraction_in_Robotics.pdf) the rotations are described as an "orientation vector" with rotation axis defined by the vector direction and rotation amount defined by vector length. The...

With the number of places that need to be carefully adjusted and rotation count checked it might be best to just bookkeep all rotation as orientation vectors internally and provide...

http://www.cs.cmu.edu/~spiff/moedit99/expmap.pdf

Exponential maps could be used for representing closure error instead of quaternions in the matrices which would cut down on the amount of rows needed for error by 1.

A public URDF version of the Curiosity Rover model can be used for this to settle the chassis, move the arm:  https://github.com/gkjohnson/curiosity_mars_rover-mirror

Taking a step towards a known good pose like the rest pose before solve seems to alleviate this issue a bit but can cause jumping when full extended as the...