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Joints: Add a feature to weight the priority of solving a joint #13

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gkjohnson opened this issue Oct 14, 2020 · 1 comment
Open

Joints: Add a feature to weight the priority of solving a joint #13

gkjohnson opened this issue Oct 14, 2020 · 1 comment
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enhancement New feature or request
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v0.0.x

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@gkjohnson
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gkjohnson commented Oct 14, 2020 •
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Will need to multiply the jacobian delta error by the a weight.

Single weight per joint? Or different weight per Joint DoF?

Can this be accomplished by multiplying the jacobian entries by a weight and then dividing it out again after the solve when applying the angle?
@gkjohnson gkjohnson added example enhancement New feature or request and removed example labels Oct 14, 2020
@gkjohnson gkjohnson modified the milestones: v0.0.2, v0.0.3 Oct 15, 2020
@gkjohnson
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gkjohnson commented Dec 28, 2020 •
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Paper on strict priority levels:

http://personal.cimat.mx:8181/~cesteves/cursos/animation/pdf/BaerlocherBoulic.pdf

Also appendix F here:

https://www2.ccs.neu.edu/research/gpc/publications/Vona__2009__Virtual_Articulation_and_Kinematic_Abstraction_in_Robotics.pdf

@gkjohnson gkjohnson modified the milestones: v0.0.3, v0.0.4, v0.0.5, v0.0.x Dec 29, 2020
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