Using the moveit pick&place API from python I am getting too many suboptimal paths. I tried several planners such as EST, RRT and some others.
I would like to use the pick&place api but working in a much more cartesian-linear behavior. How could I do that?
I could manually generate the trajectory interpolating from two joint configurations or from( two cartesian poses + iterative IK interpolation). However these approach would have several drawbacks that I would like to avoid:
- need to implement the pick and place operations (approach, retreive, etc.)
- no collision checking
- need to implement joint limits checking
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