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Computing proper joint weight and resolutions to get evenly spaced workspace waypoints #5

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yijiangh opened this issue Feb 26, 2021 · 0 comments
Open

Computing proper joint weight and resolutions to get evenly spaced workspace waypoints #5

yijiangh opened this issue Feb 26, 2021 · 0 comments

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@yijiangh
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Summary

Computing proper joint weight and resolutions to get evenly spaced workspace waypoints. We want to have a pybullet-based implementation of openrave's linkstatistics. Details can be found in Lavalle's textbook here.

A draft can be found here. The related part in the openrave source code: https://github.com/rdiankov/openrave/blob/master/python/databases/linkstatistics.py#L214

Details

Will this change the current API? How?
A new function will be added.

Are you willing to contribute it?
Yes
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@yijiangh