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Use a more appropriate inverse kinematics solver #7

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dmiklic opened this issue Nov 16, 2015 · 0 comments
Open

Use a more appropriate inverse kinematics solver #7

dmiklic opened this issue Nov 16, 2015 · 0 comments
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@dmiklic
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dmiklic commented Nov 16, 2015

The current solver tries to match the goal tool configuration exactly, which results in unnatural robot motion. It would be more natural to use a solver that allows the specification of tolerance ranges and use wide tolerances for tool configuration DoF that we do not care about. Check out this solver:

https://bitbucket.org/traclabs/trac_ik.git
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@dmiklic @fpetric