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RethinkRobotics-opensource / sns_ik

Saturation in the Null Space (SNS) Inverse Kinematic Library
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Initial work on SNS-IK velocity solver #83

Closed MatthewPeterKelly closed 6 years ago

MatthewPeterKelly commented 6 years ago

New implementation of the SNS-IK velocity solver, with documentation, unit tests, and a clean API. For now, the new implementation of the solver is kept independent of the original code.