Hey!
I'm doing a small side project with a UR10. My endeffector has rotation range of around (-200, 200) degrees, so that for some poses, two different rotation angles are possible. How can I select which configuration will be used? The JointConstraint is applied to the whole trajectory, but I only want to make sure that the last joint has a value of -180 (instead of +180) at the end of the movement.
↧