I've been working on implementing inverse kinematics (IK) reachability and motion planning for the stretch robot. I've successfully generated collision spheres, which work well for IK reachability. However, I've encountered challenges with motion generation. Regardless of how I adjust the target position or orientation, it fails to determine a viable path. Could you kindly offer some guidance or hints to help me overcome this issue?
Your assistance would be greatly appreciated. Thank you!
Hello,
I've been working on implementing inverse kinematics (IK) reachability and motion planning for the stretch robot. I've successfully generated collision spheres, which work well for IK reachability. However, I've encountered challenges with motion generation. Regardless of how I adjust the target position or orientation, it fails to determine a viable path. Could you kindly offer some guidance or hints to help me overcome this issue?
Your assistance would be greatly appreciated. Thank you!