New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Deal with joints not in the planning group #56

Open

kamiradi opened this issue Oct 14, 2024 · 0 comments

Member

kamiradi commented Oct 14, 2024 •

edited by sea-bass

Loading

Bound the joints of the robot that are not part of the planning group.

One last comment on this -- when I looked at Meshcat, the gripper fingers definitely fly all over the place (which might be why I had to bound the velocity/accel/jerk to finite values, else the gripper fingers might have flown into collision or sparked another silent failure).

I think what we need to do is take all of the joints that are not actively part of this group, and constrain their positions to exactly the starting positions + velocities and further derivatives to zero.

Originally posted by @sea-bass in #52 (comment)

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment