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How to Set Position of Elbow for Xarm7

Open febert opened this issue 3 years ago • 1 comments

Hi,

For my application I need to control the position of the elbow of my xarm7 to avoid collisions with the environment.

Is there any way I can bias the IK solution to a desired elbow configuration? I couldn't find any parameter for the in the API.

Thanks!

febert avatar Oct 18 '22 00:10 febert

Sorry, currently the redundant degree of freedom is not supported. You may need to use third-party libs to avoid obstacles, like Moveit...

MinnaZhong avatar Oct 21 '22 07:10 MinnaZhong