Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Use IK from RobotModel #22

Open
simonschmeisser opened this issue May 5, 2020 · 2 comments
Open

Use IK from RobotModel #22

simonschmeisser opened this issue May 5, 2020 · 2 comments

Comments

@simonschmeisser
Copy link
Contributor

Currently TracIK is used but for most industrial robots analytical solvers exist (opw, ur_kinematics, ikFast, ...). Those are one hand several orders of magnitude faster and more importantly have a higher success ratio.
@jrgnicho
Copy link
Member

TracIK was chosen because it allows evaluating unconstrained goals with relative ease

@kokkalisko
Copy link

kokkalisko commented Apr 7, 2021 •
edited
Loading

@jrgnicho I would like to adjust the planner to use opw_kinematics. I do not understand why TRAC-IK was preferred. Can you provide some additional info? Do you mean that this inverse kinematics solver was preferred because MoveGroup IK imposes some precision criteria?

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
None yet
Milestone
No milestone
Development

No branches or pull requests
3 participants
@simonschmeisser @jrgnicho @kokkalisko