Is solving IK for multiple end-effectors supported? e.g. with a multi-finger hand? #81
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Hi, thanks for sharing your amazing work. It looks like for IK solving, the current config only allows one single ee_link. In case of using multi-finger robot, we have one single base and potentially multiple end-effectors. Is these case supported or will be supported in the future? |
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Yes, it's supported in the latest release. You need to add the additional links to track as Once you set the link names, you can set the targets for these frames by send them as a list of Pose for this argument: curobo/src/curobo/wrap/reacher/ik_solver.py Line 456 in 1458f79 |
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Yes, it's supported in the latest release. You need to add the additional links to track as
link_names:[link_name, link_name_2]in your robot configuration file. Check this file for an example: https://github.com/NVlabs/curobo/blob/main/src/curobo/content/configs/robot/iiwa_allegro.ymlOnce you set the link names, you can set the targets for these frames by send them as a list of Pose for this argument:
curobo/src/curobo/wrap/reacher/ik_solver.py
Line 456 in 1458f79