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1.0 1.0 0.0 68.34 MB

The MoveIt! motion planning framework

Home Page: http://moveit.ros.org/

License: BSD 3-Clause "New" or "Revised" License

CMake 1.95% Python 3.41% HTML 0.01% C++ 94.14% C 0.03% Makefile 0.01% GDB 0.01% Shell 0.26% Dockerfile 0.07% NASL 0.03% TeX 0.09%

moveit's People

Contributors

130s avatar adampettinger avatar andyze avatar bmagyar avatar brycestevenwilley avatar davetcoleman avatar de-vri-es avatar dg-shadow avatar felixvd avatar gavanderhoorn avatar henningkayser avatar hersh avatar isucan avatar j-petit avatar jafarabdi avatar jrgnicho avatar jspricke avatar julienking avatar marioprats avatar mathias-luedtke avatar mayman99 avatar mikeferguson avatar mintar avatar mlautman avatar rhaschke avatar sachinchitta avatar simonschmeisser avatar tylerjw avatar v4hn avatar velveteenrobot avatar

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moveit's Issues

rework IK plugins

  • simplify multitude of IK API functions
  • random config sampling either in IK or RobotState, not both
  • allow for axis-specific tolerances (to support underactuated robots)
  • allow task-space and joint-space weighting
  • support redundancy resolution
  • support arbitrary constraints?
  • support kinematic trees
  • new reference implementation replacing KDL
    • compute FK + Jacobian ourselves
    • solvers: svd (with various singularity resolving options), transpose

CartesianPath

  • compute path w.r.t. arbitrary reference frame
  • support motions of eef1 relative to eef2

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