No joint solution found while trying to use inverse kinematics on Baxter robot

asked 2017-04-19 13:42:47 -0500

Glass_Eater gravatar image

I am trying to move a the arm of a Baxter robot by inputting the position and orientation but so far neither of the two methods I tried (ik_service_client and baxter_pykdl ) worked. They gave the result that no IK solutions were found.

I started by setting the left arm of the Baxter robot at a position then I used the function endpoint_pose() to get the position and orientation of the arm. I used the values I got for the position and orientation in ik_service_client.py code but it gave me the result NO IK joint solution found . I also tried using the values on baxter_pykdl and still no joint solutions were found.

If any one knows how to fix the problem a their help will be greatly appreciated.

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Comments

Did you try the ik_service_client.py with the standard values? Did that work? Also, do you have the standard IK solver (KDL) configured or something else?

rbbg gravatar imagerbbg ( 2017-04-19 15:03:02 -0500 )edit

@rbbg I am not sure what the standard values of the ik_service_client.py are, but I am assuming it is the values that were initially set for the position and orientation. If that is what you mean then I tried them and they worked fine.

Glass_Eater gravatar imageGlass_Eater ( 2017-04-19 17:20:36 -0500 )edit

@rbbg I followed the instructions here http://sdk.rethinkrobotics.com/wiki/B... to install baxter_pykdl. I dont have the standard IK solver (KDL) .

Glass_Eater gravatar imageGlass_Eater ( 2017-04-19 17:24:13 -0500 )edit