Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Lock arbitrary joints when solving IK using tracIK

asked 2018-04-25 02:17:27 -0600

Tim Stadtmann
13 ●3 ●4 ●8

Hi guys,

I am using the trac-ik Plugin in MoveIt! to do my IK calculations. Is there any way to lock certain joints, i.e. make the solver behave as if that joint would already be in it's limit? I guess I could implement a workaround that temporarily sets the corresponding joint limit to the current joint position, but is there a cleaner way?

Thanks in advance,

Tim

edit retag flag offensive close merge delete

add a comment

Question Tools

2 followers

Stats

Asked: 2018-04-25 02:17:27 -0600

Seen: 121 times

Last updated: Apr 25 '18

Lock arbitrary joints when solving IK using tracIK edit

Question Tools

Stats

Related questions

Lock arbitrary joints when solving IK using tracIK