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rework IK plugins #1

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rhaschke opened this issue Feb 16, 2018 · 0 comments
Open

rework IK plugins #1

rhaschke opened this issue Feb 16, 2018 · 0 comments

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@rhaschke
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  • simplify multitude of IK API functions
  • random config sampling either in IK or RobotState, not both
  • allow for axis-specific tolerances (to support underactuated robots)
  • allow task-space and joint-space weighting
  • support redundancy resolution
  • support arbitrary constraints?
  • support kinematic trees
  • new reference implementation replacing KDL
    • compute FK + Jacobian ourselves
    • solvers: svd (with various singularity resolving options), transpose

CartesianPath

  • compute path w.r.t. arbitrary reference frame
  • support motions of eef1 relative to eef2
rhaschke pushed a commit that referenced this issue Nov 3, 2022
@sjahr
Merge pull request #1 from stephanie-eng/patch-3
7273f71 
Downgrade log from ERROR to INFO
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@rhaschke