Code

Closed-form IK for the MTMs#167

Code

Draft

brendanburkhart wants to merge 14 commits intojhu-dvrk:develjhu-dvrk/sawIntuitiveResearchKit:develfrom brendanburkhart:brendan_MTM_IKbrendanburkhart/sawIntuitiveResearchKit:brendan_MTM_IKCopy head branch name to clipboard

+319-409

Commits

Commits on Feb 13, 2023

• Brief MTM/ECM IK unit test instructions

  brendanburkhart

  committed
  2e1de04

• Rewrite closed-form MTM IK

  brendanburkhart

  committed
  5ad3d58

Commits on Feb 19, 2023

• Consistent arithmetic spacing

  Show description for d23c49e
  brendanburkhart

  committed
  d23c49e

Commits on Feb 20, 2023

• Enforce joint limits

  Show description for 4caaaf1
  brendanburkhart

  committed
  4caaaf1

• Merge branch 'devel' into brendan_MTM_IK

  brendanburkhart

  committed
  67fe13f

Commits on Feb 22, 2023

• Merge branch 'devel' into brendan_MTM_IK

  brendanburkhart

  committed
  897b170

Commits on Mar 8, 2023

• Alternate platform yaw choice

  brendanburkhart

  committed
  4522a4d

Commits on Mar 15, 2023

• Always move MTM wrist roll to closest equivalent mod PI

  brendanburkhart

  committed
  b6f0e64

Commits on Mar 20, 2023

• Fix IK tests error message

  brendanburkhart

  committed
  2546c61

• Fix platform yaw angle interpolation

  Show description for 5d923dd
  brendanburkhart

  committed
  5d923dd

• Use loaded MTM kinematics rather than constants

  brendanburkhart

  committed
  c236c1f

Commits on Mar 1, 2024

• Merge branch 'devel' into brendan_MTM_IK

  brendanburkhart

  committed
  10e5390

• Merge remote-tracking branch 'origin/devel' into brendan_MTM_IK

  brendanburkhart

  committed
  2048f0d

• Temporarily remove virtual roll decoupling

  brendanburkhart

  committed
  10969f7