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.
@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
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.