Alex Joni wrote: >> There was one change needed in genserkins, which took less than an hour to >> figure out. Converting the numbers from work envelope drawings to D-H >> parameters took a while as well. >> > Do you happen to remember what that was? > I don't think I saw an associated commit.. > Sorry.
It was a specific hack to add/subtract the shoulder position to/from the elbow position, to make the lower arm rotate as the upper arm moved. I am working on a more generic patch, which will allow you to "unrotate" a joint by doing the same thing we did. You'd set a genserkins parameter to 0, -1, or +1 to add/subtract the previous joint rotation to/from the current joint. I'm just looking for the spot in kinematicsInverse to add it :) - Steve ------------------------------------------------------------------------------ Beautiful is writing same markup. Internet Explorer 9 supports standards for HTML5, CSS3, SVG 1.1, ECMAScript5, and DOM L2 & L3. Spend less time writing and rewriting code and more time creating great experiences on the web. Be a part of the beta today http://p.sf.net/sfu/msIE9-sfdev2dev _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
