IK solver: pykdl

[quarkytale]

I am working on trajectory planning using Probabilistic Motion Primitives on Baxter Robot. It requires the use of an Inverse kinematics tool to convert the algorithm's positions (x,y,z) in task space to Baxter's joint angles without the input of gripper orientation. IK_Service_Client requires quaternions to provide the solution, hence I tried Baxter pykdl, which outputs None to valid points in the workspace. Even after providing it a seed, the solution is way off and inaccurate. Is there any other IK solver which solves just using the x,y,z values, @ymollard? This is the screenshot of the same issue:

[josephcoombe]

Check out trac-ik.

I've had good success using trac-ik for position-only IK - just set the orientation bounds to be high as shown here.