Hi all,

Is it possible to set the tolerance of the solution when using ikfast?

When I reduce the precision of a reachable goal pose of eef, ikfast fails to give a solution. For example, the goal pose (x=0.497019, y=0.0588894, z=0.432219; a=-0.690204, b=-0.0311941, c=-0.01745, d=0.722731) is solvable by ikfast. But (x=0.497, y=0.059, z=0.432; a=-0.690, b=-0.031, c=-0.017, d=0.723) is unsolvable. But actually I don't need the pose to be very precise. as long as it is within some tolerance of error.

The member functions setPositionTolerance and setOrientationTolerance of move_group do not work. Is there a way to give such tolerance when using ikfast?

Thanks!