Source

puma / PumaIK.py

Author Commit Message Labels Comments Date
Trammell Hudson
Hard code joint angle range for elbow; not great
Trammell Hudson
Reduce max speed, try to find better angles and tweak the gains
Trammell Hudson
Copy vectors
Trammell Hudson
Move arm config into PumaConfig.py
Trammell Hudson
Fix normal computation
Trammell Hudson
Fix cross coupling computations
Trammell Hudson
Various wrists work
Trammell Hudson
a/s/n fixed; ik works again!
Trammell Hudson
Precompute scale, try to adjust for tool position
Trammell Hudson
Ported IK library from C