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 | 1 | initial version |
I just checked your urdf, and I only count 5 joint elements that are part of the base arm: shoulder_pan_joint, shoulder_pitch_joint, elbow_pitch_joint, wrist_pitch_jointandwrist_roll_joint. The twopincer_` joints are not part of the arm.
That would make it a 5dof, which would explain why you can't plan for all (6dof) poses and dragging the interactive marker doesn't work very well for you.
Without changing the hw (and the urdf), you can only ask MoveIt to do position only IK, which will ignore (as the name implies) the orientation of your EEF. In the RViz plugin, tick the checkbox that says "Allow Approximate IK Solutions" on the Context tab.
| | 2 | No.2 Revision |
I just checked your urdf, and I count only count 5 joint elements that are part of the base arm: shoulder_pan_joint, shoulder_pitch_joint, elbow_pitch_joint, wrist_pitch_jointandwrist_roll_joint. The twopincer_` joints are not part of the arm.
That would make it a 5dof, which would explain why you can't plan for all (6dof) poses and dragging the interactive marker doesn't work very well for you.
Without changing the hw (and the urdf), you can only ask MoveIt to do position only IK, which will ignore (as the name implies) the orientation of your EEF. In the RViz plugin, tick the checkbox that says "Allow Approximate IK Solutions" on the Context tab.
| | 3 | No.3 Revision |
I just checked your urdf, and I count only 5 joint elements that are part of the base arm: shoulder_pan_joint, shoulder_pitch_joint, elbow_pitch_joint, wrist_pitch_joint and andwrist_roll_jointwrist_roll_joint. The twotwo pincer_pincer_` joints are not part of the arm.arm, and bottom_joint is a fixed joint, which does not contribute to the reachable solution space.
That would make it a 5dof, which would explain why you can't plan for all (6dof) poses and dragging the interactive marker doesn't work very well for you.
Without changing the hw (and the urdf), you can only ask MoveIt to do position only IK, which will ignore (as the name implies) the orientation of your EEF. In the RViz plugin, tick the checkbox that says "Allow Approximate IK Solutions" on the Context tab.
| | 4 | No.4 Revision |
I just checked your urdf, and I count only 5 joint elements that are part of the base arm: arm:
shoulder_pan_jointshoulder_pitch_jointelbow_pitch_jointwrist_pitch_jointwrist_roll_jointThe two pincer_ joints are not part of the arm, and bottom_joint is a fixed joint, which does not contribute to the reachable solution space.
That would make it a 5dof, which would explain why you can't plan for all (6dof) poses and dragging the interactive marker doesn't work very well for you.
Without changing the hw (and the urdf), you can only ask MoveIt to do position only IK, which will ignore (as the name implies) the orientation of your EEF. In the RViz plugin, tick the checkbox that says "Allow Approximate IK Solutions" on the Context tab.
| | 5 | No.5 Revision |
I just checked your urdf, and I count only 5 joint elements that are part of the base arm:
shoulder_pan_jointshoulder_pitch_jointelbow_pitch_jointwrist_pitch_jointwrist_roll_jointThe two pincer_ joints are not part of the arm, and bottom_joint is a fixed joint, which does not contribute to the reachable solution space.
That would make it a 5dof, which would explain why you can't plan for all (6dof) poses and dragging the interactive marker doesn't work very well for you.you (as that is a 6dof 'input device').
Without changing the hw (and the urdf), you can only ask MoveIt to do position only IK, which will ignore (as the name implies) the orientation of your EEF. In the RViz plugin, tick the checkbox that says "Allow Approximate IK Solutions" on the Context tab.
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