simIK.findConfig problem
simIK.findConfig problem
When I use simIK.findConfig to solve a 7 joints arm's end_effector pose to joints configuration, I keep getting the wrong value(different from the current joints' configuration), what should I do?
Re: simIK.findConfig problem
Hello,
why do you say you keep getting the wrong value? Keep in mind that the pose of the target dummy is relevant, i.e. if the pose of the target dummy does not coincide with the tip dummy, then obviously you will get different configurations from the current one.
Additionally, if your manipulator is redundant, which it very certainly is with 7 DoFs, then you have for most poses and infinite number of different configurations that match that pose.
Cheers
why do you say you keep getting the wrong value? Keep in mind that the pose of the target dummy is relevant, i.e. if the pose of the target dummy does not coincide with the tip dummy, then obviously you will get different configurations from the current one.
Additionally, if your manipulator is redundant, which it very certainly is with 7 DoFs, then you have for most poses and infinite number of different configurations that match that pose.
Cheers