Hi!
as it says in the header I want to align my endeffector with a vector in space. In my case the z-axis of the EE should be aligned with the vector. This means that the x-, and y-axis are not specified.
Right now I only manage to navigate the EE to a certain pose where the x-, y-, and z-axis are all determined. But sometimes the robot cannot reach this pose due to collisions or being out of reach. A simple turn around the z-axis would do the trick that the pose can be reached and still the goal "aligning with the vector" is achieved.
My question: Is there an implementation in ROS or particularly in Moveit to automatically solve this?
Best regards!
***Edit:***
My approach right now is to calculate the path to the target with angles from -180° till +180° in steps of 10° (All of them fullfill the requirement of alignment with the vector, but not all of them are possible for the robot). After that I know which angels are possible and can choose. But this takes some minutes as I have to set up the planner each time.
So again the question: I'm looking for a way to this faster. And maybe there is an implementation? For example constraints for the target pose or something?
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