Any ROS package for multi cartesian point inverse kinematics?

Dear all,

I am working on ROS Noetic and trying to implement an inverse kinematics solution for a Franka Emika Panda robot with its gripper (https://github.com/frankaemika/franka_ros/tree/noetic-devel).

Specifically, I woud like to set two different desired positions for each finger of the robot gripper and find if a solution for the joints exists; then, if such a solution exists, get it.

As far as I know, most of the packages like MoveIt!, KLD, RBDL or even IKFast do not provide such a feature. Does any package has built-in functions for multi cartesian point IK?

Thanks in advance.

Asked by dhindhimathai on 2021-12-16 07:31:05 UTC

Comments

BioIK?

Asked by fvd on 2021-12-16 07:34:48 UTC

Thank very much you for the suggestion. I will try and test it and come back to you.

Asked by dhindhimathai on 2022-01-12 05:51:23 UTC

Answers

I think your assumption is wrong. moveit certainly allows you to separate the planning and execution steps. If that's not good enough for some reason, while it's more coding, nothing prevents you from directly calling an Inverse Kinematics solver independent of moveit.

Asked by Mike Scheutzow on 2021-12-16 10:18:31 UTC

Comments

My concern is not about separating planning and execution. It is more about finding an IK solution with redundancy resolution. This means, if two separate links (frames) of the robot need to reach two different points, to find a solution for such problems. AFAIK, moveit is not able to do this by its own.

Asked by dhindhimathai on 2022-01-12 05:51:02 UTC