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