Added joint limits in baxter_kinematics IK#2
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akihikoy wants to merge 2 commits intoRethinkRobotics:masterfrom
Open
Added joint limits in baxter_kinematics IK#2akihikoy wants to merge 2 commits intoRethinkRobotics:masterfrom
akihikoy wants to merge 2 commits intoRethinkRobotics:masterfrom
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…imits in inverse_kinematics.
Since we modified its IK to consider the joint limits, solving IK takes longer time around the boundary. In this time, maxiter and eps arguments are added to the inverse_kinematics function. The default values are: maxiter=500, eps=1.0e-6, which are different from the original default values (maxiter=100 and eps=1.0e-6). This increased maxiter makes IK more stable.
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Modified the baxter_kinematics class to take into account the joint limits in inverse_kinematics.