Open Manipulator fails to plan in the task space but works in the joint space
proboticks opened this issue · 0 comments
proboticks commented
I am using the open_manipulator controller and the steps below were performed using the GUI tool.
Steps to reduce:
- The actuators are disabled, and the arm is manually moved to a pose
$\mathbf{x}$ that is within the joint limits specified here. - The joint space angles
$J_{\mathbf{x}}$ and task space position$T_{\mathbf{x}}$ are recorded. - The actuators are enabled and the arm is instructed to move to the HOME pose.
- Now, the arm is tasked to plan to the pose
$T_{\mathbf{x}}$ (i.e.$\mathbf{x}$ in the task space) and the planning fails.[ERROR] [OpenManipulator Chain Custom]fail to solve inverse kinematics [ERROR] [TASK_TRAJECTORY] Fail to solve IK
- Sending the pose
$J_{\mathbf{x}}$ (i.e$\mathbf{x}$ in the joint space) to the arm works!
I tested this for many poses. This seems like a IK issue and unfortunately I am not well versed in that space. This essentially reduces the true workspace of the arm considerably!
Any help is much appreciated!