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RethinkRobotics-opensource / sns_ik

Saturation in the Null Space (SNS) Inverse Kinematic Library
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Is the Fast-SNS and/or FastOpt-SNS solvers available for Matlab as well? #106

Open sondretordal opened 5 years ago

sondretordal commented 5 years ago

I have been using some of the SNS solvers for Matlab and find them very usefull! But I would like to also benefit from the Fast-SNS and/or FastOPT-SNS solvers as well? Is this something which will be available in the future?

robodreamer commented 5 years ago

Glad to hear that you found them useful! I am not planning to implement the other solvers since I found my basic version of solver's performance good enough, but you can feel free to contribute to this repo if you think those solvers will be necessary. Since RethinkRobotics' shutdown, we are currently thinking to move this repo somewhere else before we further update the codes in this repo.

sondretordal commented 5 years ago

Thanks for your reply. I also find them quite efficient. However, is here any material or examples on which edge cases the algorithms (xxx_rr_xxx.m) re-developed by you are more robust and reliable. Scientific papers or some graphs, cases etc.? I work towards implementing these algorithms in an industrial setting, and to me/us robustness, speed and reliability is of high priority.