Added ConvertIkParameterization utility (and cleaned GetIkParameterization) #910
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note: I tested that code in testopenrave's (new) test_ikparamconversion.py. It is ready for review. |
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note2: robottask part is actually tested as well. I'll unwip that once this MR is done. |
tgn3000
reviewed
Oct 28, 2020
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how this MR going? |
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pipelineid=256370 |
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@rdiankov @kanbouchou This blocks a MR in planningcommon. |
lazydroid
approved these changes
Jun 16, 2022
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because we need to convert 6D ik to 4D ik in some cases.
by the way it is arguable whether to put ConvertIkParameterization under Manipulator or under Robot.