aikido icon indicating copy to clipboard operation
aikido copied to clipboard

Published 20 hours ago • verified publisher icon personalrobotics

Add planWithEndEffectorTwist

Open egordon opened this issue 4 years ago • 1 comments

Currently, planToEndEffectorOffset functions only perform end-effector translations.

But the user may conceivably want to perform rotations as well.

There is an existing PR that is closed for now, but is fairly close to being done. https://github.com/personalrobotics/aikido/pull/545

egordon avatar Sep 23 '21 16:09 egordon

Added #628 , which partially solves this issue.

The biggest thing that needs to be added is a true Twist function that allows for angles greater than PI.

egordon avatar Dec 09 '22 22:12 egordon