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[13:34:51] <alex_joni> wonder if one could do some kins "calculations" with a PID component
[13:41:24] <alex_joni> run in joint space
[13:42:11] <alex_joni> calculate the resulting world pos (running through forward kins -> which is very easy to write/compute), then run through a 6-dof PID which compairs position to the preset position
[13:42:26] <alex_joni> surely it'll be a bit wobbly.. but maybe doable ?
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