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KeerthiSagarSN / constrained_manipulability

Constrained Manipulability is a library used to compute and visualize a robot's capacities in constrained environments.
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Manipulability and constrained manipulability polytopes are offset at the end-effector. #1

Open KeerthiSagarSN opened 2 months ago

KeerthiSagarSN commented 2 months ago

Issue_marker_offset

The motion polytope and the constrained manipulability polytope seem to be offset for some reason.

KeerthiSagarSN commented 2 months ago

Issue_marker_offset_between_mp_vs_cmp

KeerthiSagarSN commented 2 months ago

I believe this is due to parameter in /polytope_ws/src/constrained_manipulability/constrained_manipulability/launch/abstract_ur3e.launch.py tip_link is set as "wrist_3_link".