Deterministic task solutions

[captain-yoshi]

I have some tasks, that needs to be deterministic.

Inverse Kinematic

I use TRAC-IK because we don't have a closed form solution when accounting for the robot kinematic calibration. Given the same seed and the same timeout, do you think that it is deterministic ? Not had a chance to benchmark this.

Planners

I use the Pilz industrial motion planner to be deterministic. When using a cartesian goals, the IK solver is used to create the trajectory (or maybe just do some checks, not really sure). If the IK solver is not deterministic or the seed is random, then in fact this planner is not really deterministic for cartesian goals...

MTC

Assuming I have a IK solver which is deterministic.

If I want to have the same task solutions, I would need first to change the ComputeIK stage to have the same sequence of seeds. I would need to always pass goals in joint space to Pilz and let MTC compute the IK's.

Do you see anything else in the MTC framework that has non-deterministic behavior ? Or maybe you would have a different approach.