search

plusone-robotics / moveit_simple

A wrapper around MoveIt that enables more traditional industrial robot programming.
Apache License 2.0
15 stars 12 forks source link

Support IK solutions with end effector symmetries #90

Closed henningkayser closed 5 years ago

henningkayser commented 5 years ago

As discussed in https://github.com/plusone-robotics/moveit_simple/issues/79 pick and place poses should be computed such that tool windup (or joint windup in general) is reduced as much as possible. With symmetric end effectors (circular, rectangular, square) it's possible to rotate the grasp pose while still producing valid grasps. This extended IK wrapper function adds support for computing IK solutions for all three end effector types and also optionally applies the tool windup reduction feature introduced in #89.

mlautman commented 5 years ago

@henningkayser Can you point out which commit's are unique to this PR? I would recommend squashing some of these commits to reduce the complexity for your Reviewer

henningkayser commented 5 years ago

@mlautman this PR only adds https://github.com/plusone-robotics/moveit_simple/pull/90/commits/e572d9a74d347c5916094c283f73d396783ea497 based on https://github.com/plusone-robotics/moveit_simple/pull/89

henningkayser commented 5 years ago

92 fixes CI