Hi,
I'm using MoveIt to control my arm. It has < 6 DoF so I need to tick "Allow Approximate IK Solutions" in order to drag the end effector in `moveit_rviz`. However, I am running into two problems which I think may be linked:
(1) When manipulating the end effector in `moveit_rviz` by dragging the ball about, if I am not very careful the ball will become detached from the end effector and the arm will suddenly start jumping around all over the place to random poses. If I let go of the mouse it will stop moving, and I can regain control from the new position.
(2) When manipulating the end effector using `moveit_joy` with `moveit_rviz` running, if I move the end effector using the joystick, I can see that it is occasionally flickering between its new position and (what looks like) the original 'home' position. It's kind of like it's being driven by two different things. On top of this, I notice problem (1) still occuring, where I occasionally lose control of the end effector as it starts jumping around between random poses. Often the only way I can stop it from jumping around is to kill `moveit_joy` altogether.
Does anybody know what could be the problem here please?
Thanks.
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