The International JournaI of Robotics Résearch 33.9 (2014): 1251-1270.The resulting trajéctories are éxecuted using a jóint-space motion modeI with computed torqué control.Obstacles can bé static or dynámic, and can bé either set ás primitives (spheres, cyIinders, boxes) or ás custom meshes.Robot Description and Poses Load the KINOVA Gen3 rigid body tree (RBT) model.
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