It's great that there are joint centering / joint displacement cost functions available, but what if you want finer-grained control for specific joints? Two examples would be:
- Suppose you want to limit some joints to move as little as possible compared to other joints, so relative weighting.
- Suppose you want a specific joint value to fall within a custom range that is separate from the joint center/limits, so specifying other bounds.
I actually think that a tutorial on how to add such a cost function to pick_ik with something like this would be super helpful.
It's great that there are joint centering / joint displacement cost functions available, but what if you want finer-grained control for specific joints? Two examples would be:
I actually think that a tutorial on how to add such a cost function to
pick_ikwith something like this would be super helpful.