Is your feature request related to a problem? Please describe.
|
, ik_seed_(Eigen::VectorXd::Zero(dof_)) |
It appears that the IK seed for the Descartes robot sampler is set to all zeros by default. Solving IK with a seed of zero for robots whose all-zeros configuration is a singularity (e.g,. Franka FR3) fails for gradient based solvers like KDL. This in turn makes Descartes fail.
Describe the solution you'd like
- The
RobotSampler class should accept an IK seed as an input argument (or give public access to it)
DescartesDefaultPlanProfile::createWaypointSampler should attempt to set the IK seed using the input MoveInstruction
Describe alternatives you've considered
N/A
Additional context
See this issue for more context
Is your feature request related to a problem? Please describe.
tesseract_planning/tesseract_motion_planners/descartes/include/tesseract_motion_planners/descartes/impl/descartes_robot_sampler.hpp
Line 65 in 965e5e1
It appears that the IK seed for the Descartes robot sampler is set to all zeros by default. Solving IK with a seed of zero for robots whose all-zeros configuration is a singularity (e.g,. Franka FR3) fails for gradient based solvers like KDL. This in turn makes Descartes fail.
Describe the solution you'd like
RobotSamplerclass should accept an IK seed as an input argument (or give public access to it)DescartesDefaultPlanProfile::createWaypointSamplershould attempt to set the IK seed using the inputMoveInstructionDescribe alternatives you've considered
N/A
Additional context
See this issue for more context