Moveit IK says success but inaccurate results

asked 2013-12-11 05:58:15 -0500

sofiad gravatar image

Hi, I'm trying to perform IK using the ROS groovy moveit package on my robot's arms and legs. I have configured moveit using the setup assistant and my robot's urdf and have been trying to test the inverse kinematics based on the forward and inverse kinematics tutorial by doing forward kinematics, obtaining the end effector pose, doing inverse kinematics with this pose and forward kinematics again to compare the two poses.

The problem is that often, even though the SetFromIK function returns a positive found_ik, the two poses are different. I would expect that the joint angles could vary, but the poses should be the same, right?

Thanks!

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