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continuous joints are not working #10

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hejia-zhang opened this issue Nov 8, 2019 · 3 comments
Closed

continuous joints are not working #10

hejia-zhang opened this issue Nov 8, 2019 · 3 comments
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the joint limts seem to be -pi to pi
@hejia-zhang hejia-zhang self-assigned this Nov 8, 2019
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after smoothing, smoother will automatically interpolate between -pi to pi then collision constraints will be messed up.

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hejia-zhang commented Nov 24, 2019 •
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In aikido, so2 joint will be limted in -pi to pi. So when we do smoothing, we need to add pi to each so2 joint. see constraint/uniform/SO2UniformSampler.cpp 37, distance/SO2Angular.cpp 23

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quick fix by unrolling continuous joint values, better solution may be to use quaternion to represent SO2 value #14

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