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.
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.