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joschu / trajopt

Trajectory Optimization
http://rll.berkeley.edu/trajopt
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move to cartesian_pose has an error of 7cm and 1cm #29

Open lakshmip001 opened 5 years ago

lakshmip001 commented 5 years ago

I am moving to a cartesian position using trajopt which results in an error of 7cm along y direction and 1cm along x-direction. How can I achieve moving to exact cartesian position.

EdsterG commented 5 years ago

Use a constraint instead of a cost, also make sure the optimization has converged.

lakshmip001 commented 5 years ago

Actually I am using in ros , So I am able to use cost. I would like to fix the tool but tool keeps rotating. How can I fix my tool pose?

EdsterG commented 5 years ago

Increase the weight on the tool pose.

lakshmip001 commented 5 years ago

Can I know the range of weight I should give? Is there a term in trajopt for setting the weight or do I need set the weight on teach pad of the robot?

EdsterG commented 5 years ago

In trajopt, setting all weights to 1 is usually a good place to start.

lakshmip001 commented 5 years ago

I am new to trajopt , can you help me on how to set the weight and where. May be an example program using weight might be helpful