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Add planWithEndEffectorTwist #611

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egordon opened this issue Sep 23, 2021 · 1 comment

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enhancement good first issue help wanted

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egordon commented Sep 23, 2021

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.
#545

egordon added enhancement help wanted good first issue labels

egordon added this to the Aikido 0.5.0 milestone

egordon mentioned this issue

Add planEndEffectorTwist #545

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egordon commented Dec 9, 2022

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.

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