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

Singularity Avoidance in Cartesian Planning & Servo #1370

Closed
wyattrees opened this issue Jun 15, 2022 · 1 comment
Closed

Singularity Avoidance in Cartesian Planning & Servo #1370

wyattrees opened this issue Jun 15, 2022 · 1 comment
Labels
enhancement New feature or request Epic

Comments

@wyattrees
Copy link
Contributor

In an effort for fewer singularities to arise during Cartesian planning & Servo, bio_ik's kinematics plugin may be used to prioritize manipulability during such movements. To integrate this with MoveIt2, this requires:

  • Introducing cost functions to KinematicsBase, RobotState, and CartesianInterpolator, so they may be consumed by bio_ik
  • Making IK modular for Servo by using kinematics plugins, similar to CartesianInterpolator. Currently, only the inverse Jacobian method is supported
@wyattrees wyattrees added the enhancement New feature or request label Jun 15, 2022
@wyattrees
Copy link
Contributor Author

completed with #1386 and #1434

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

No branches or pull requests
2 participants
@henningkayser @wyattrees