Hi,
I am using moveit for IK calculation of my Baxter Robot. I want to calculate the joint angles for a given position (excluding orientation) of End-Effector.
Following is code snippet:
import moveit_commander
group = moveit_commander.MoveGroupCommander("left_arm")
group.set_position_target([x, y, z])
plan = group.plan()
The variable `plan` contains complete trajectory for moving the robot arm from current position to target position. BUT I just want the joint angles for target position, so I select the last element of this trajectory to get the joint angle. There can be many solutions for a given position for Baxter arm, hence I want to provide an initial estimate of the joint angles as a seed value. So that moveit can search for IK solution nearest to the seed value.
Below are my questions:
1. How to set seed value in moveit for IK calculation?
2. How to perform IK for position only input (better suggestion compared to my approach) ?
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Thanks
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