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[MoveIt!] Goal tolerance for inverse kinematics

Hi there!

I implemented a small program to test for a sequence of positions if a solution for inverse kinematics exists. I used some of the code from the tutorial. Now, I would like to set the GoalOrientationTolerance and GoalPositionTolerance as it can be done in the move_group API, however it seems like I only can set the number of attempts and the timeout.

Is there a way to initiate inverse kinematics computation with different tolerances? And what is the default tolerance?

My thanks, F4bich