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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

Simple combined pick/place IK supporting symmetries #91

Closed henningkayser closed 5 years ago

henningkayser commented 5 years ago

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.

henningkayser commented 5 years ago

This PR adds a71dad8 and e7db1c5 . I see this as a preparation for optimized implementations.

henningkayser commented 5 years ago

92 fixes CI