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TriPed-Robot / trip_kinematics

Python package for inverse kinematic calculations of hybrid serial parallel robots
https://trip-kinematics.readthedocs.io/en/main/
MIT License
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Prevent missmatch between kinematic handle endeffector and inv kin endeffector #42

Closed liquidcronos closed 2 years ago

liquidcronos commented 3 years ago

A kinematic handle is dependent on the specified endeffector. However the inverse kinematics still always needs a specified endeffector. These could be differen by mistake.

Instead the inverse kinematics should not need a endeffector when provided with a handle.

liquidcronos commented 2 years ago

More robust would be to ensure that the name of the endeffector and the handle match. this can help prevent accidents.

The name of the endeffector can be part of the kinematic handle class proposed in #47

liquidcronos commented 2 years ago

this is resolved by folding the inverse kinematics feature inside the solver class in commit bafd3909372bc007012491f414158226de0b141f