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HassoPlattnerInstituteHCI / dualpantoframework

DualPanto Framework
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Jacobian #293

Open boeckhoff opened 4 years ago

boeckhoff commented 4 years ago

especially since new hardware version (dualPanto ember) uses asymmetric linkages we really need a jacobian representation of the render-space to accurately render haptics.

lukaswagner commented 4 years ago

just an idea, are the linkages symmetric regarding the y-axis (user to panto)? that would mean the matrix could be the same for both, with the values for one handle being mirrored.