Make MoveIt! IK solver 'prefer' certain solutions over others
Hi,
I am currently trying to implement the end-effector control for a 7DOF robot arm in Gazebo, using MoveIt! for IK (KDL). In my setup, I would prefer solutions with minimal movement in the shoulder joints. Is there any possibility to set this as an optimization goal for the solver, or change it's initial seed state accordingly?
In my current solution I rather naively generate a high number of solutions and take the 'best' one.
Cheers, Tim
Asked by Tim Stadtmann on 2018-03-26 03:10:23 UTC
Comments
Pedantic, but: the KDL plugin is stand-alone, so this statement isn't entirely correct.
As a first suggestion: switch to Trac IK, and use the
Distancesolve type, notSpeed.Asked by gvdhoorn on 2018-03-26 04:18:31 UTC
Good call, that actually works quite well already, thanks. Using this solve type, does the solver try to minimize the total distance the joints drive?
Asked by Tim Stadtmann on 2018-03-26 06:40:16 UTC
I would suggest to refer to the trac ik plugin documentation. It explains this quite well.
Asked by gvdhoorn on 2018-03-26 06:43:04 UTC