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mgear-dev / mgear4

mGear v.4.x.x (python 3 ready) https://mgear4.readthedocs.io
MIT License
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Got a proper orientation for wrist using getTransformLookingAt, not orientation from an exact guide. #341

Closed joji2468ng closed 7 months ago

joji2468ng commented 7 months ago

Fixed: Arm_2jnt_04: orientation issue(the forearm jnt and ctl ) https://github.com/mgear-dev/mgear4/issues/337

The bug occurs when the Align wrist to guide orientation option is enabled.

In this case, the wrist matrix was initially defined based on a guide wrist orientation, which resulted in the wrist orientation being flipped in relation to the elbow and the shoulder joint, leading to a twist in the forearm joint and controller.

[Wrong Axis] image

[Correct Axis] image

miquelcampos commented 7 months ago

@joji2468ng Thanks for the fix