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moveit / moveit2

:robot: MoveIt for ROS 2
https://moveit.ai/
BSD 3-Clause "New" or "Revised" License
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Make collision environment available to kinematics solver #2856

Closed timonegk closed 3 weeks ago

timonegk commented 4 months ago

Is your feature request related to a problem? Please describe. Currently, it is not possible in MoveIt to have collision-aware inverse kinematics, i.e., inverse kinematics solvers that include environment objects in their solution.

Describe the solution you'd like It would be nice if the CollisionEnv or PlanningScene objects could be made available to the kinematics solver, for example by adding a parameter to searchPositionIK or passing a pointer to the object on initialization of the plugin.

Describe alternatives you've considered The current rejection-based approach (providing a callback for collision checking that is executed after a solution has been found) is not sufficient for scenarios with more collisions and limits the options for kinematics solvers in this regard.

github-actions[bot] commented 2 months ago

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

github-actions[bot] commented 3 weeks ago

This issue was closed because it has been stalled for 45 days with no activity.