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RethinkRobotics-opensource / sns_ik

Saturation in the Null Space (SNS) Inverse Kinematic Library
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Adds a new functionality to enable a secondary goal #96

Closed robodreamer closed 6 years ago

robodreamer commented 6 years ago

This commit adds new functionalities to vel/acc IK solvers so that they can now take a configuration space task as a secondary goal. A simple application of this feature will be to have a nullspace bias which will help stabilizing the nullspace motion as well as getting the solution pose close to a desired pose. Unit tests are added as well.

robodreamer commented 6 years ago

Hey @IanTheEngineer do you think you can review this today and merge it? Since I have another pull request to make on top of this, I want to separate them. Thanks!

robodreamer commented 6 years ago

@IanTheEngineer thanks Ian. If you see it looks good, can you merge it? =)

chris-smith commented 6 years ago

Looks like travis is having issues right now, which would explain how long the builds are taking relative to past builds and the failure mode - just stalling and then terminating without output.

https://www.traviscistatus.com/incidents/pxj3py3xzn14

I'm going to merge for now to unblock Andy, particularly considering the only changes here since the last build were comments.