On 3/13/2014 6:38 PM, andy pugh wrote: > On 13 March 2014 23:27, Charles Steinkuehler <[email protected]> wrote: > >> If I use KINEMATICS_INVERSE_ONLY, I get immediate joint errors when >> switching to world coordinates. > > As a quick and dirty workaround, what happens if you make the f-error > limits huge?
I'm not sure...I'll try but I think it's unlikely to work. Testing so far shows that the HOME values from the [TRAJ] section just aren't getting used somehow. > As a slightly less quick and nearly as dirty workaround, how about a > forwards kins that simply re-exports the commanded position? That's what the trajectory loop does if I don't have forward kinematics, but I don't get passed the current position. ...hmm...I could stash the last commanded position in a global variable inside my kinematics module... /me: wanders off to create even uglier C code... -- Charles Steinkuehler [email protected]
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