Rate control - translation in end effector frame

aaronsnoswell / teleop-cli

A simple CLI to tele-operate a JACO² arm using a Force Dimension haptic master

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Rate control - translation in end effector frame #17

Closed aaronsnoswell closed 6 years ago

aaronsnoswell commented 6 years ago

As a: User I want to: Control the robot translation in rate mode from the end-effector pose So that: It is more intuitive

Currently, rate mode translations are in the frame of the base of the robot. A more intuitive control scheme would be the end effector of the robot. This should just be a simple rotation matrix.