Enumerations SingularityAvoidanceMode - ThorstenBrach/SRCI GitHub Wiki
| Enum-Item | Value | Description |
|---|---|---|
NO_CHANGE |
0 |
Allow movement of one or more joints to avoid singularities without a change of the orientation |
LOCK_J4 |
1 |
Lock the 4th joint to avoid singularities |
TOOL_ORIENTATION |
2 |
Allow a small movement of the tool orientation to avoid singularities |