bio_ik

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Custom robot model loader does not respect joint_limits.yaml files

4

Many tools in MoveIt! use a `RobotModelLoader` create a `moveit::core::RobotModel`. In `bio_ik` [a custom helper function](https://github.com/TAMS-Group/bio_ik/blob/ad75b2e8085338311a2f6e7224f43b9b1f35a79c/src/kinematics_plugin.cpp#L167-L185) is used. Unfortunately, this custom loader does not look at a `joint_limits.yaml` file (like...

jarvisschultz

Hi! I was working on a project involving incremental tracking and I noticed that a continuous-revolute joint on the robot would suddenly flip almost 360 degrees (thankfully was doing this...

mechwiz

We have discussed in the past already several times if it would make sense to transfer the bio_ik repo to ros-planning. There are several changes in the making (ROS 2...

henningkayser

URDF not parsable from python wrapper when bio_ik is find_package'd

11

## The problem I am using the MoveIt RobotModelLoader to load a URDF from the ros parameter server. The URDF will not be parsed when the following two conditions are...

timonegk

Use angle between quaternions in OrientationGoal?

2

Currently the orientation goal looks like this: ``` virtual double evaluate(const GoalContext& context) const { // return getOrientation().distance2(context.getLinkFrame().getOrientation()); // return (getOrientation() - getOrientation().nearest(context.getLinkFrame().getOrientation())).length2(); return fmin((getOrientation() - context.getLinkFrame().getOrientation()).length2(), (getOrientation() + context.getLinkFrame().getOrientation()).length2());...

AndyZe

bio_ik produces weird ik solutions

9

we were testing bio_ik as the kinematics plugin for moveit for a custom manipulator (total of 7 joints, including linear and mimic joints) we observe the following: - generating random...

fmessmer

Hey! I am trying to use the touch goal and there is lots of element needed to make it work. I am not that familiar with moveit to understand all...

mohammad200h

Environment: ros-kinetic I can success to use bio_ik by `setFromIK()`, but when I use `computeCartesianPath()`, I get the error info `Returning dirty link transforms`.

letterso

[ 91%] Building CXX object CMakeFiles/utest.dir/test/utest.cpp.o /vol/sandbox/ros/src/bio_ik/test/utest.cpp:6:10: fatal error: ../src/frame.h: No such file or directory #include "../src/frame.h"

rhaschke

missing redundancy resolution?

1

The MoveIt plugin doesn't seem to have a nice redundancy resolution mechanism. Using BioIK on a 7-DoF arm, solutions along a Cartesian path jitter within the nullspace instead of choosing...

rhaschke