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Trajectory waypoints are not exactly the same as joint positions. How to find the closest waypoint?

If the planned path could reach the same position twice, there is no unique "minimum distance" you could use to get the path parameter, whatever distance-function you will choose. In this ...
Christoph Froehlich's user avatar
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Motion planning for non-serial chain robotic arms

Running a search in google, return this repo, which, apparently can tackle your issue. On the other hand, it seems that none of the "...
leandro's user avatar
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