Motion planning with the position target
Hi!
I'm curious about how the move_group_interface realizes the motion planning task with the only position target.
By browsing the source code of move_group_interface.setPositionTarget, I found that the orientation target is cleared.
In fact, I want to finish a motion planning task with the Python binding of OMPL and don't know how to set only a Cartesian position target instead of a joint value target. For now, I'm trying to find out how MoveIt computes the joint value target with the kinematics plugins.
As far as I know, the kinematics plugin, such as KDL and TRAC-IK, are not collision-aware kinematics algorithms. How do they compute the collision-free configuration which is treated as a goal state for motion planning algorithms?
MoveIt integrates plenty of C++ classes which are difficult for me to find the realization of the motion planning procedure.
Do you have any ideas?
Any help would be appreciated!
