Hi there!
I implemented a small program to test for a sequence of positions if a solution for inverse kinematics exists.
I used some of the code from the [tutorial](http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/pr2_tutorials/kinematics/src/doc/kinematic_model_tutorial.html).
Now, I would like to set the GoalOrientationTolerance and GoalPositionTolerance as it can be done in the move_group API, however it seems like I only can set the number of attempts and the timeout.
Is there a way to initiate inverse kinematics computation with different tolerances? And what is the default tolerance?
My thanks,
F4bich
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