Moveit execute trajectory even on failure due to limits.

asked 2020-06-02 07:36:16 -0500

ThreeForElvenKings gravatar image

Hello. I am trying to simulate a robotic arm and control it using moveit. While it is all setup and working as expected, I have a query regarding a specific functionality.

Suppose I give an invalid final pose for moveit to plan, it returns saying that trajectory is not found. I am wondering if it is possible for it to still execute a trajectory that is similar to the invalid goal, but will stop at the extremes.

Let me give an example to illustrate my question. Suppose the maximum limit for my arm is 0.3m upwards. Currently it is at a location of 0.1m. Suppose I give my final goal as 0.4m upwards, moveit will respond with a failed message, but is it possible to go to the maximum limit i.e. 0.3m and then stop the execution as maximum limits are reached.

I understand that the problem that I have put forth is ill-posed as there can be multiple upper bound limits when we consider all 6 degrees of freedom. However, is something similar to the question I posed possible?

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No, that's currently not supported out-of-the-box.

gvdhoorn gravatar image gvdhoorn  ( 2020-06-02 10:55:51 -0500 )edit