krishauser ·


Extra constraints in motion planner

howto support

IK is your best bet. If you want to keep the end effector position constant between the start and end, you can do it as follows

from klampt import ik
from klampt.math import vectorops

tool_center_point = [0,0,0]  #whatever you want here
local_axis = [1...

Motion planning: RuntimeError: Start Configuration is infeasible


Ah, the has a bunch of flags at the top of the file to test more complex version of the motion planning functions, and these were set to 1 in the committed version. They should be set to 0. If you git pull, the most recent planning_tes...


Calculation of impact between object and robot?

This type of thing happens usually when the PID controller is going unstable, or when the object is already penetrating through the robot upon simulator initialization.

Can you attach the code, robot file, and object file that generates this error?

You m...