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personalrobotics / prpy

Python utilities used by the Personal Robotics Laboratory.
BSD 3-Clause "New" or "Revised" License
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Unwinding when planToNamedConfiguration for fully continuous joints #296

Open sjavdani opened 8 years ago

sjavdani commented 8 years ago

If we plan to a specific configuration, we do not currently take into account that some joints are fully continuous, and have multiple values for identical positions. Thus, if we are 2*pi away, the robot will move that joint a full revolution to get to the specified configuration.

mkoval commented 8 years ago

@sjavdani Do you have a fix for this on ADA? Can we add it to PrPy?