MoveIt - Python interface - TRAC-IK -How to request closest IK solution to current joint configuration?

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I'm not sure I understand what you're asking. When you say "cartesian trajectories", do you mean one calculated by the cartesian path planning function? Because for 6-DOF robots this should not depend on the IK solution at the goal pose. Also, do you mean "How to request closest IK solution to a given joint configuration?"

Is TracIK configured to use its Distance solve type, instead of the default Speed?

@fvd Sorry, about "cartesian trajectories" I meant that I am using the move_group.set_pose_target() method, which offers no option to specify which of the possible IK solutions to use.

And, yes, I also mean to ask "how to request the closest IK solution to a given joint configuration?", it just that I want to get the closest to the current joint configuration of the robot.

I included a video in the question for clarity

@gvdhoorn no, how do I configure TRACK-IK to do that? I checked the code and the logs and it is expecting a rosparam move_group(leftarm in my case)/solve_type, but even if I specify "Distance" it still doesn't seem to recognize it :/

Looking in common namespaces for param name: leftarm/solve_type

Using solve type Speed

Can you add how you define the parameter your question?

how do I configure TRACK-IK to do that?

In the kinematics.yaml of your MoveIt cfg package, like so (manipulator is the group name here, change to whatever you have of course):

manipulator:
  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
  solve_type: Distance

@gvdhoorn thank you! Silly me, I was publishing a rosparam with that "manipulator/solve_type" but that way didn't work. I wonder why...

Anyways, I just tried using the kinematics.yaml and it worked. TRAC-IK recognizes the solver type and it does seem to work as I wished, the IK solution seems to be the same every time.

@fvd sorry, I don't understand your question. Do you mean the TRAC-IK parameter?

if that's the case I defined the parameter <param name="leftarm/solve_type" type="str" value="Distance" />, I defined the parameter before calling the move_group definition, and I checked that the parameter existed in the parameter server but still for whatever reason TRAC-IK was not able to read from it or something.

@gvdhoorn thank you! Silly me, I was publishing a rosparam with that "manipulator/solve_type" but that way didn't work. I wonder why...

it needs to be in a specific namespace. If it's not there, TracIK will not find it and default to Speed.