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Namespaces | |
| namespace | interpolated_ik_motion_planner |
Server to provide interpolated IK motion plans relevant params: num_steps: the number of steps to use when interpolating including start and finish (0 means use pos_spacing and rot_spacing to calculate the number of steps, anything ==1 or <0 will become 2, start and finish) consistent_angle: the max angle distance (in any joint) before we declare that the path is inconsistent collision_check_resolution: how many steps between collision checks (0 or 1 is check every step; 2 is every other, etc.) steps_before_abort: the number of steps in the plan (starting from the end and going backwards) that can be invalid due to collisions or inconsistency before aborting (0 is abort as soon as you find one, 1 is allow one and still continue, -1 or >=num_steps to never abort early) pos_spacing: the max translation (m) to move the wrist between waypoints (only used if num_steps is 0) rot_spacing: the max rotation (rad) to move the wrist between waypoints (only used if num_steps is 0) collision_aware: if this is 0, collisions won't be checked for (returns non-collision aware IK solutions) start_from_end: if this is 1, the planner searches for an IK solution for the end first, then works backwards from there max_joint_vels: a list of maximum joint velocities to use when computing times and velocities for the joint trajectory (defaults to [.1]*7 if left empty) max_joint_accs: a list of maximum accelerations to use when computing times and velocities for the joint trajectory (defaults to [.25]*7 if left empty) | |