pick_ik

Inverse Kinematics solver for MoveIt

README

pick_ik

pick_ik is an inverse kinematics (IK) solver compatible with MoveIt 2.

The solver is a reimplementation of bio_ik, which combines:

  • A local optimizer which solves inverse kinematics via gradient descent

  • A global optimizer based on evolutionary algorithms

Critically, pick_ik allows you to specify custom cost functions as discussed in this paper, so you can prioritize additional objectives than simply solving inverse kinematics at a specific frame. For example, you can minimize joint displacement from the initial guess, enforce that joints are close to a particular pose, or even pass custom cost functions to the plugin.

If you are familiar with bio_ik, the functionality in this package includes:

  • Reimplementation of the memetic solver (equivalent to bio1 and bio2_memetic solvers)

  • Reimplementation of the numeric gradient descent solvers (equivalent to gd, gd_r, and gd_c solvers)

  • Fully configurable number of threads if using the global solver

  • Cost functions on joint displacement, joint centering, and avoiding joint limits

For more details on the implementation, take a look at the paper or the full thesis.

Getting Started

To get started using pick_ik, refer to the following README files: