Any ROS package for multi cartesian point inverse kinematics?

asked 2021-12-16 06:31:05 -0500

dhindhimathai
136 ●11 ●12 ●21

Dear all,

I am working on ROS Noetic and trying to implement an inverse kinematics solution for a Franka Emika Pandarobot with its gripper (https://github.com/frankaemika/franka...).

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.

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BioIK?

fvd ( 2021-12-16 06:34:48 -0500 )edit

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

dhindhimathai ( 2022-01-12 04:51:23 -0500 )edit

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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.

dhindhimathai ( 2022-01-12 04:51:02 -0500 )edit

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Any ROS package for multi cartesian point inverse kinematics?

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