support for non-actuated joints and non-holonomic constraints?
I have an under-actuated arm that I would like to use with OpenRave. Does ikfast have support for non-actuated joints? Ideally, joints with a spring force such that
they will return to their zero position if possible. I know OpenRave has “free” joints, but I don’t think this is what I want. It is my understanding that these free joints are essentially fixed during the ik computation. Is that correct? I also know OpenRave
can do dynamics simulation where joint springs can be simulated. But I don’t think this is what I want either. I am interested in ik computation.
Also, what if my end-effector has non-holonomic constraints? Is there a way to deal with this in OpenRave?