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How to perform orientation constrained based Inverse Kinematics in trac_ik

asked 2017-02-17 07:28:53 -0500

ravijoshi gravatar image

The default KDL IK solver is still not robust enough. Hence I am planning to use trac_ik.

Instead of keeping the orientation constant throughout the trajectory, I want it to change within specified limits. My question is how to perform orientation constrained based Inverse Kinematics in trac_ik?

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answered 2017-02-20 08:56:24 -0500

kramer gravatar image

I just asked the maintainer on your behalf, who said:

You can't do orientation constraints with the moveit plugin, only when you're using trac_ik_lib directly. As outlined at the bottom of the README, you can specify an orientation (and position) tolerance in the KDL::Twist message provided to ik_solver.CartToJnt(...), which are +/- symmetric.

Hope that helps.

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Can you please answer a related question here?

ravijoshi gravatar image ravijoshi  ( 2018-06-06 10:26:44 -0500 )edit

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Asked: 2017-02-17 07:28:53 -0500

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Last updated: Feb 20 '17