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Unwinding when planToNamedConfiguration for fully continuous joints #296

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sjavdani opened this issue Apr 8, 2016 · 1 comment
Open

Unwinding when planToNamedConfiguration for fully continuous joints #296

sjavdani opened this issue Apr 8, 2016 · 1 comment
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@sjavdani
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sjavdani commented Apr 8, 2016

If we plan to a specific configuration, we do not currently take into account that some joints are fully continuous, and have multiple values for identical positions. Thus, if we are 2*pi away, the robot will move that joint a full revolution to get to the specified configuration.
@mkoval mkoval added the bug label Apr 9, 2016
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mkoval commented Sep 11, 2016

@sjavdani Do you have a fix for this on ADA? Can we add it to PrPy?

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