Make MoveIt! IK solver 'prefer' certain solutions over others

asked 2018-03-26 03:10:23 -0600

Tim Stadtmann gravatar image

updated 2018-03-26 03:24:55 -0600

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

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Comments

using MoveIt! for IK (KDL).

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 Distance solve type, not Speed.

gvdhoorn gravatar imagegvdhoorn ( 2018-03-26 04:18:31 -0600 )edit

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?

Tim Stadtmann gravatar imageTim Stadtmann ( 2018-03-26 06:40:16 -0600 )edit

I would suggest to refer to the trac ik plugin documentation. It explains this quite well.

gvdhoorn gravatar imagegvdhoorn ( 2018-03-26 06:43:04 -0600 )edit