How can I change the algorithm of IK service on Baxter arm

I want to move the endpoint from point A to point B while keeping the wrist joint fixed. IK sevice on the rethink robotics messes up the wrist joint. Any suggestions on how can I make the arm move from A to B with a fixed wrist joint ?

Asked by Hoyu on 2019-01-18 04:39:47 UTC

Comments

Answers

Fixed wrist joint sounds like a job for an OrientationConstraint which you can use in the same way the tutorials explain.

Asked by aPonza on 2019-01-22 08:21:19 UTC