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.
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.Thanks for your help!