Can you seperate a Inverse Kinematic Model with Move it setup assistant?
roslaunch moveit_setup_assistant setup_assistant.launch
As you know there is a Moveit setup assistant interface for creating moveit packages. In my case I would like to generate a inverse kinematics model from existing model. In other words I have a UR5 robot that I am using in my simulations with Moveit. UR5 robot is 6 DOF robot. But I would like to make a inverse kinematics model with only last 3 Joints of this robot. Is it possible?
Asked by Meric on 2019-08-04 05:32:10 UTC
Answers
But I would like to make a inverse kinematics model with only last 3 Joints of this robot. Is it possible?
The MoveIt Setup Assistant doesn't generate any IK or FK solvers.
So the answer would be "no".
It is however possible to create a group of 3 joints only with the MSA. You'd still have to find / write / generate an IK solver though.
Asked by gvdhoorn on 2019-08-04 10:23:16 UTC
Comments
Thank you for your answer but It is not clear for me, I made a 3 joint group with MSA. In this tutorial link under "Define Planning Groups" and set the Kinematic solver as kdl_kinematics_plugin.
This selection will handle the inverse and forward kinematics for this group right?
Asked by Meric on 2019-08-04 12:49:13 UTC
You'll have t check the latest status, but afaik KDL doesn't work for 3 dof chains.
Asked by gvdhoorn on 2019-08-05 03:07:01 UTC
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