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Find shortest rotation direction for free revolute joint on an Articulation body

Open agru97 opened this issue 4 years ago • 2 comments

When I set the X Drive target of the free revolute joint on an Articulation body to 1 and the to a 360 it will move the whole way around. How do I set my robot up so that it always takes the shortest roation direction. Do I have to fix this issue in Unity or on the ROS/MoveIt Side? Because when I get my trajectory from Moveit I think i have the same problem like the 1 to 360 rotation. This causes my Robot to do some uncontrolled movements.

agru97 avatar Jan 24 '22 16:01 agru97

Hi sorry for the delayed response. We are having an internal discussion about this issue. We will get back to you as soon as possible. [AIRO-1697]

vidurvij-Unity avatar Feb 02 '22 22:02 vidurvij-Unity

Is there an update on this? I am having the same issue. Or does anyone have a workaround?

hanlonm avatar Oct 21 '22 12:10 hanlonm