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Handling URDF robots whose joints have two axes of rotation. #21

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pinglu85 opened this issue May 17, 2021 · 0 comments
Open

Handling URDF robots whose joints have two axes of rotation. #21

pinglu85 opened this issue May 17, 2021 · 0 comments
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enhancement New feature or request

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pinglu85 commented May 17, 2021 •
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Some robots have wheel-hinge-joint, i.e. Staubli. A wheel-hinge-joint has two axes of rotation which are perpendicular to each other. We should also be able to create a valid IK chain from such URDF Robots and CCD IK solver should be able to handle such IK chains.
@pinglu85 pinglu85 added the enhancement New feature or request label May 17, 2021
@pinglu85 pinglu85 self-assigned this May 17, 2021
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