moveit/moveit_grasps

GraspFilter::findIKSolution always timing out

Closed this issue · 6 comments

@mlautman @v4hn @feroze
The grasp filtering always times out here.
I even tested with a crazy high timeout limit like 500 secs and still it timed out.
Any insight would be really useful.

Thanks

This means none of the potential grasp poses are solvable by the IK solver. You likely have the wrong frame on the end effector (is the robot gripper z-axis oriented or?) or you are asking some impossible configuration of the arm. Or the IK solver does not work for other reasons...

This config file will give you tons of visualizations of why it might be broken:

https://github.com/davetcoleman/moveit_grasps/blob/kinetic-devel/config/grasp_debug_level.yaml

+1 to lots of visualizations :)

The visualizations are helping but still unable to get the animated ones working. Please let me know if there is anything specific that needs to be done for them

We have confirmed the visualizations are now working!

I have just written various unit tests and we are using this package actively, closing this issue because we cannot reproduce