Is it possible to score IK solutions on MoveIt?
I am using MoveIt with a custom robotic arm. And it is working pretty well, it converges really fast to a solution.
My problem is that these solutions are far from optimal. The path planner usually performs pretty well. But the IK solver frequently converges to very odd positions (I am using TRAC-IK), something like 1 out of 3 solutions are not great.
I was wondering if it was possible to customize how the IK solver evaluates different solutions. Maybe something like running the IK solver N times and choosing the best solution given a custom evaluation function. Is this possible? For example, finding N different solutions and choosing the solution where joint X is closest to value Y. Doesn't sound like it should be that complicated to do. If this is possible through the Python API then even better, but if it is necessary to do through C++ then that is also fine.
An observation: this is a good example of an xy-problem.
The question is titled:
while the actual problem is:
that's what the question should have been about.
Yes. I see that now. Thanks for the observation.