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Hi Kai,

Could you please ask future MoveIt! related questions on the moveit-users mailing list: moveit-users@googlegroups.com. Its easier for us to track MoveIt! specific questions there.

MoveIt! uses KDL for setting up the default kinematics solver. KDL does not support planar joints so that's why you are having trouble setting up a group like this. However, the fact that KDL does not support the planar joint only means that MoveIt! will not do the full inverse kinematics for you directly. You can still send individual joint values as a goal for the motion planning and MoveIt! will plan a path for you.

We will look into adding planar joint support into KDL in the future.

Hi Kai,

Could you please ask future MoveIt! related questions on the moveit-users mailing list: moveit-users@googlegroups.com. Its easier for us to track MoveIt! specific questions there.

MoveIt! uses KDL for setting up the default kinematics solver. KDL does not support planar joints so that's why you are having trouble setting up a group like this. However, the fact that KDL does not support the planar joint only means that MoveIt! will not do the full inverse kinematics for you directly. You can still send individual joint values as a goal for the motion planning and MoveIt! will plan a path for you.

We will look into adding planar joint support into KDL in the future. future.