ipab-slmc / exotica

Extensible Optimization Framework
https://ipab-slmc.github.io/exotica
BSD 3-Clause "New" or "Revised" License
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Is position only IK possible? #751

Closed RVSagar closed 2 years ago

RVSagar commented 2 years ago

Hi There,

I have a problem where I've setup some task maps and am solving IK queries. Is it possible to do a position only IK query? i.e., find a solution that achieves the position [x, y, z] with any orientation? I saw that if I pass in a query pose that is not of length 6 [x, y, z, r, p, yaw], an error is thrown, so I was wondering if there is any other way to achieve this.

Currently I'm doing something like this, where left_arm_pose is of length 6, but this requires me to explicitly set the orientation.

self.exotica_ik_solver.get_problem().set_goal('LeftArm', left_arm_pose)

Thanks for your help!

wxmerkt commented 2 years ago

If you change EffFrame to EffPosition in the XML, it will solve for exactly that

RVSagar commented 2 years ago

Thank you, that totally slipped my mind, appreciate your response :), I will close this now