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JeroenDM / moveit_opw_kinematics_plugin

An attempt at writing a MoveIt! plugin for opw_kinematics.
http://wiki.ros.org/moveit_opw_kinematics_plugin
Apache License 2.0
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Validity callback #19

Closed simonschmeisser closed 5 years ago

simonschmeisser commented 5 years ago

With this all IK solutions are sorted by distance to the seed state, then checked for joint limits and finally a solution callback is used to test for user defined validity criteria (eg collision free).

Please also merge to melodic-devel

JeroenDM commented 5 years ago

I'm sorry for the slow response (I just got back from a long vacation).

Thank you for implementing this! I went through the commits quickly and it all seems ok. Maybe we could add some tests for this in the future?

(I will try to tie up some loose ends in this repository in the following weeks, I kind of feel bad for abandoning it for the past months...)

simonschmeisser commented 5 years ago

Don't worry! I somehow assumed this had been implemented already or I would have done so earlier. Thanks for merging!