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missing redundancy resolution? #12

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rhaschke opened this issue Jan 1, 2019 · 1 comment
Open

missing redundancy resolution? #12

rhaschke opened this issue Jan 1, 2019 · 1 comment

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@rhaschke
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rhaschke commented Jan 1, 2019

The MoveIt plugin doesn't seem to have a nice redundancy resolution mechanism.
Using BioIK on a 7-DoF arm, solutions along a Cartesian path jitter within the nullspace instead of choosing the least-squares solution.
@v4hn v4hn mentioned this issue Jan 1, 2019
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v4hn commented Jan 1, 2019

That is true.

We worked around this before by adding (secondary or a second primary) target goal to avoid joint displacement.
This works best with a custom computeCartesianPath loop though.

Please comment @philipp1234

timonegk pushed a commit to bit-bots/bio_ik that referenced this issue Feb 26, 2022
@tylerjw
✨ coveralls (TAMS-Group#12)
d5f8781 
Signed-off-by: Tyler Weaver <tylerjw@gmail.com>
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@v4hn @rhaschke