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kinematics_pick_ik.yaml
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/
kinematics_pick_ik.yaml
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# Configure pick_ik as the solver to use with panda_arm
panda_arm:
kinematics_solver: pick_ik/PickIkPlugin # The IK solver plugin to use
kinematics_solver_timeout: 0.05 # Maximum duration in seconds the solver is allowed to run per attempt
kinematics_solver_attempts: 3 # Maximum number of solver attempts to find a solution
mode: global # Solver mode 'global' enables evolutionary algorithm with gradient descent, and 'local' uses only gradient descent
position_scale: 1.0 # A scale factor for the position cost, setting this to 0.0 means rotation-only IK
rotation_scale: 0.5 # A scale factor for the orientation cost, setting this to 0.0 means position-only IK
position_threshold: 0.001 # Threshold for position difference in meters to consider a solution valid
orientation_threshold: 0.01 # Threshold for orientation difference in radians to consider a solution valid
cost_threshold: 0.001 # Maximum cost function value for a valid solution (all cost functions must return a value lower than this)
minimal_displacement_weight: 0.0 # Weight for joint angle difference cost function. Leave it low or zero for far goals, and make higher for interpolation or jogging
gd_step_size: 0.0001 # Step size for the gradient descent