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

asked 2019-01-18 03:39:47 -0500

Hoyu
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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 ?

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answered 2019-01-22 07:21:19 -0500

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

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Asked: 2019-01-18 03:39:47 -0500

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Last updated: Jan 22 '19

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