Hi,

I am using moveit for IK calculation of my Baxter Robot. I want to calculate the joint angles for a given position (excluding orientation) of End-Effector.

Following is code snippet:

import moveit_commander
group = moveit_commander.MoveGroupCommander("left_arm")
group.set_position_target([x, y, z])
plan = group.plan()

The variable plan contains complete trajectory for moving the robot arm from current position to target position. BUT I just want the joint angles for target position, so I select the last element of this trajectory to get the joint angle. There can be many solutions for a given position for Baxter arm, hence I want to provide an initial estimate of the joint angles as a seed value. So that moveit can search for IK solution nearest to the seed value.

Below are my questions:

1. How to set seed value in moveit for IK calculation?
2. How to perform IK for position only input (better suggestion compared to my approach) ?

- Thanks