can we specify a tolerance in the PositionIKRequest? [closed]
According to my understanding, for the current implementation of IK request, no matter it is collision aware or non collision aware, we can only specify a single pose with a set of concrete x,y,z,roll,pitch,yaw values. but in some cases, the vicinity of the target position is also acceptable. and if we can add a tolerance in the IK request, we can increase the IK success rate. so is there anyone know how to add a tolerance for the Ik request? btw, i'm using the KDLArmKinematicsPlugin as the kinematics solver.
p.s. in the arm_navigation_msgs::GetMotionPlan::Request, we can specify a tolerance for both the position and orientation.
As a related question: would it be possible to specify a position-only IK target (no orientation), or even better, a range of acceptable positions/orientations?
I'd be happy to contribute some of the changes, but some hints where to start would be welcome :-)