bio_ik_experiment

Bio IK experiment with Look at goal + Min/Max distance + Balance Robot + Center Joints.

Demo

• Modify xarm7's kinematics.yaml for Bio IK like this:

  xarm7:
    kinematics_solver: bio_ik/BioIKKinematicsPlugin
    kinematics_solver_search_resolution: 0.005
    kinematics_solver_timeout: 0.02
    kinematics_solver_attempts: 1
  

• Run the demo:

  $ roslaunch xarm7_moveit_config demo.launch

• Run the solver:

  $ rosrun bio_ik_experiment bio_ik_experiment

Video

https://www.youtube.com/watch?v=RKVN-GoH-l0