Is it okay to give MoveIt! a target pose in end-effector frame when using custom plugin for IK solver?

asked 2018-05-23 14:16:19 -0600

raequin
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updated 2018-05-23 14:16:55 -0600

If one is using MoveIt! with a custom plugin for the kinematic solver, is it okay to specify a target pose in a link frame that was not present when the plugin was made? I've fixed a tool on the tool0 link (the tool flange) of the UR10 model and MoveIt! is using the UR10KinematicsPlugin. Everything has operated just fine when I had the end-effector as the final link in the planning group in the SRDF, but I'm wondering if there's some reason I ought to have the planning group stop at the tool flange and specify target poses for that frame instead of the ee frame.

answered 2018-05-24 11:37:56 -0600

v4hn
2950 ●18 ●53 ●57

The answer to your title is "yes, as long as it's a robot frame that is statically connected to your IK eef".

But you are actually asking about attached objects which are handled differently from robot frames. Using those as eef links does not work out of the box as far as I know. But I, as one of the maintainers, would really like it to work and in theory it's not even difficult. If I remember correctly the problem was that an intermediate representation only gets to know about the RobotModel and not the RobotState, and the former does not know anything about attached objects.

(attempted) Patches are very welcome!

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Thanks for your answer. The second paragraph doesn't mean a lot to me, though. What do you mean by "attached objects?" (That's not in the PlanningSceneInterface attachMesh sense is it?) My understanding is that my end-effector-frame is "statically connected to [my] IK eef" (via a rigid joint).

raequin ( 2018-05-24 15:25:33 -0600 )edit

Yes, in the sense of using the attachBody function of the PlanningSceneInterface, which attaches CollisionObjects to the robot. They cannot be used eef links (yet), but may be soon. Try reading the MoveIt API to understand the rest.

fvd ( 2018-09-05 02:23:30 -0600 )edit

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Is it okay to give MoveIt! a target pose in end-effector frame when using custom plugin for IK solver?

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Is it okay to give MoveIt! a target pose in end-effector frame when using custom plugin for IK solver?