Is it possible to get a best effort solution to the collision free inverse kinematics solver?

[BolunDai0216]

Hi,

I was wondering if the inverse kinematics solver can give "best-effort" solutions to infeasible problems that minimizes the least square distance between the end-effector pose and a target pose.

Thanks!

[balakumar-s]

Do you want the best effort solution to be collision free?

[BolunDai0216]

Yes, I want to also be collision free.

[balakumar-s]

You can increase the position reaching success threshold to 0.1 (to reach within 10cm). You can increase it further based on your use case.

curobo/examples/ik_example.py

Line 46 in 88eac64

position_threshold=0.005,

[BolunDai0216]

You can increase the position reaching success threshold to 0.1 (to reach within 10cm). You can increase it further based on your use case.

curobo/examples/ik_example.py

Line 46 in 88eac64

position_threshold=0.005,

Thanks!