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Joint Angle limits for IK #72

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tmayoff opened this issue Nov 30, 2022 · 3 comments
Open

Joint Angle limits for IK #72

tmayoff opened this issue Nov 30, 2022 · 3 comments

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@tmayoff
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tmayoff commented Nov 30, 2022

I'm trying to look for an IK library that's able to take joint limits into account, (for example following limits of a human arm). This seemed promising however I'm struggling to understand the documentation. Are joint limits possible? If so how would I add them.

The JointConstraitSet seems like the answer but reading the documentation it seems like it's for constraining, for example the hand, to a certain position/orientation but can't constrain, for example the elbow, to a 'normal' human range.

Any clarifications you could provide would be very helpful, Thanks
@tmayoff tmayoff changed the title Joint Angle limits Joint Angle limits for IK Nov 30, 2022
@ju6ge
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ju6ge commented Dec 2, 2022

@mjhmilla I think this is a question that you are the most qualified to answer ;)

@im-renpei
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Hi @tmayoff , have you found a solution to this problem?

@tmayoff
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tmayoff commented Jun 12, 2023

Unfortunately not quite, I ended up writing a very simplified IK implementation myself, and will be moving to use ROS2's MoveIt for the more complicated stuff once we get to that point.

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@tmayoff @ju6ge @im-renpei