Moveit position_only_ik=True does nothing

asked 2016-06-21 10:30:41 -0500

roshenac gravatar image


I am trying to get the inverse kinematic using setFromIK. If position_only_IK is set to True I expect that having a fixed (reachable) position with a varying orientation, the inverse kinematics should always be found. However, this does not seem to be the case and at certain orientations it is unable to get the kinematics.

edit retag flag offensive close merge delete


Also fails when trying to solve IK for a 3DOF chain

Rufus gravatar image Rufus  ( 2021-02-12 22:47:22 -0500 )edit