Planning for end-effector pose with a torso

Peter_Mitrano · 2021-01-15T16:14:28.246Z

Is there a way to plan given an end-effector goal pose with a group that is a tree (not a chain)?

Based on the info here Understand end effector setup · Issue #1694 · ros-planning/moveit · GitHub the answer is “no” but I find that hard to believe. Is there a workaround? When I try to do this, the rviz plugin lets me drag around the end effector (lets say the right gripper) and plan just fine, but it does not make use of the torso joints (even though they are in the group). In python, when I try to set end-effector it throws an error.

gbiggs · 2021-01-19T00:38:25.989Z

Thanks for your question. However we ask that you please ask questions on http://answers.ros.org following our support guidelines: Support - ROS Wiki

ROS Discourse is for news and general interest discussions. ROS Answers provides a Q&A site which can be filtered by tags to make sure the relevant people can find and/or answer the question, and not overload everyone with hundreds of posts.

Peter_Mitrano · 2021-01-21T13:39:05.978Z

ok makes sense, feel free to delete this post.