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Allow task-space secondary tasks. #68

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MatthewPeterKelly opened this issue May 3, 2018 · 0 comments
Open

Allow task-space secondary tasks. #68

MatthewPeterKelly opened this issue May 3, 2018 · 0 comments

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@MatthewPeterKelly
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MatthewPeterKelly commented May 3, 2018 •
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The velocity-IK solver implementation currently supports only joint-space secondary tasks, although the algorithm is able to handle task-space secondary tasks. It would be great to implement this feature from the paper. This is particularly useful for the ability to "jog" the arm in the null space.
@MatthewPeterKelly MatthewPeterKelly changed the title Allow arbitrary non-primary task specification Allow task-space secondary tasks. May 3, 2018
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