Source

puma / ik.c

Author Commit Message Labels Comments Date
Trammell Hudson
skeleton for fk
Trammell Hudson
Move joint configuration into joint_cfg_t
Trammell Hudson
adjust signs on normals and wrist angles
Trammell Hudson
wrist works! calibration is off, but motion is right
Trammell Hudson
IK on the wrist is looking better
Trammell Hudson
Wrist IK is almost there
Trammell Hudson
direct ik works!
Trammell Hudson
ik reachability seems to work
Trammell Hudson
Implemented direct ik algorithm