Hi,
I am currently trying to implement the end-effector control for a 7DOF robot arm in Gazebo, using MoveIt! for IK. In my setup, I would prefer solutions with minimal movement in the shoulder joints. Is there any possibility to set this as an optimization goal for the solver, or change it's initial seed state accordingly?
In my current solution I rather naively generate a high number of solutions and take the 'best' one.
Cheers,
Tim
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