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 | 1 | initial version |
I used current command from moveit_commander_cmdline.py to grab the end effector pose. And it kind of worked. I had tried that even before posting the question but maybe I missed something that time. So I tried it again today and that worked. Then I realised that the end effector prefers a certain range of orientations to cover maximum space. But even that space is quite restricted. I also did my homework yesterday by adding more degrees of freedom. I removed eef_pitch_joint and added elbow_roll_joint and wrist_roll_joint making it 7 DOF. This model is working perfectly for most pose goals. I guess then the pose space is quite restricted due the design and that was the problem after all.
| | 2 | No.2 Revision |
I used current command from moveit_commander_cmdline.py to grab the end effector pose. And it kind of worked. I had tried that even before posting the question but maybe I missed something that time. So I tried it again today and that worked. Then I realised that the end effector prefers a certain range of orientations to cover maximum space. But even that space is quite restricted. I also did my homework yesterday tried by adding more degrees of freedom. I removed eef_pitch_joint and added elbow_roll_joint and wrist_roll_joint making it 7 DOF. This model is working perfectly for most pose goals. I guess then the pose space is quite restricted due the design and that was the problem after all.
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