Add bio_ik and TRAC-IK kinematics configs (#187)

moveit · Oct 9, 2023 · 037b944 · 037b944
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diff --git a/panda_moveit_config/config/bio_ik_kinematics.yaml b/panda_moveit_config/config/bio_ik_kinematics.yaml
@@ -0,0 +1,8 @@
+panda_arm:
+  kinematics_solver: bio_ik/BioIKKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.05
+  kinematics_solver_attempts: 3
+  mode: gd_c_4
+  dpos: 0.001
+  drot: 0.001
diff --git a/panda_moveit_config/config/trac_ik_kinematics.yaml b/panda_moveit_config/config/trac_ik_kinematics.yaml
@@ -0,0 +1,6 @@
+panda_arm:
+  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
+  kinematics_solver_timeout: 0.05
+  kinematics_solver_attempts: 3
+  epsilon: 0.00001
+  solve_type: "Speed"