if previous joint positions are provided, the solutions are sorted by proximity to them (closest first)
for kinematic singularity at J5 = 0° or J5 = ±180° positions this solver provides reasonable J4 and J6 values close to the previous positions of these joints (and not arbitrary that may result in a large jerk of the real robot)
I don't think those features are available in the C++ implementation (this repo), and if not, do you think you could integrate in a near future ?
Thank you.
Hello
I know that the lib opw kinematics written in Rust (https://github.com/bourumir-wyngs/rs-opw-kinematics) integrates two interesting features:
I don't think those features are available in the C++ implementation (this repo), and if not, do you think you could integrate in a near future ? Thank you.