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uwgraphics / relaxed_ik

RelaxedIK Solver
MIT License
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Inaccurate in following trajectory #17

Closed BartvanMarrewijk closed 4 years ago

BartvanMarrewijk commented 4 years ago

My robot needs to follow a spline trajectory. Somehow, there is a quite large offset between target and gripper_link. Especially, at the beginning the offset > 2cm. The first image is at the start of the spline and the second image is at the end. Is this error caused by a low position weight factor? inaccurate accurate

BartvanMarrewijk commented 4 years ago

I found a bug. It was actually quite simple, the distance between spline and robot was too large.