WIP: PR #358 rebased for melodic devel staging - #589
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Sep 29, 2021
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I believe this PR should really only touch ur_kinematics. All changes to other packages should be removed / avoided.
Also: changes to CHANGELOGs (and similar files) should also not be included.
I realise this may not be trivial (due to this being a rebase).
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@dhled: would you see an opportunity to fix the PR? |
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Yes, I will try to do that this week. |
…nd added an appropriate helper function.
…ven kinematic configuration.
…full range of joint limits. Rotates joint by +-360° if it is possible and gets the solution closer to the seed.
Co-authored-by: Simon Schmeisser <s.schmeisser@gmx.net>
Co-authored-by: Simon Schmeisser <s.schmeisser@gmx.net>
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I still need to test on UR and UR-E, I will try to that later today / tomorrow. |
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Rebased version of #358 to target to melodic-devel-staging
Not tested yet.