Based on #90 this PR adds a simple function getPickPlaceJointSolutions() that computes IK solutions for pick and place poses while optimizing for symmetric end effectors. This first implementation uses getSymmetricIK() for searching the grasp state and then uses the orientation offset to compute the place joint state via normal IK.
Based on #90 this PR adds a simple function
getPickPlaceJointSolutions()
that computes IK solutions for pick and place poses while optimizing for symmetric end effectors. This first implementation usesgetSymmetricIK()
for searching the grasp state and then uses the orientation offset to compute the place joint state via normal IK.