I have questions about the IK solution generated by the planner when providing a
CartesianWaypoint goal, as I experience some inconsistencies.
1) Is the IK solution deterministic?
Running the same script multiple times with the same setup and the same eef goal sometimes results in valid IK solutions and valid plans, and sometimes results in jacobi complaining that the goal pose is in (self?) collision; like for instance:
Goal pose at [0.05952, -0.407, -0.2488, -1.928, 0.2708, 1.068, 0.7126] is in collision.
2) Are the attached gripper collision shape + the safety margin properly taken into account when generating the IK solution?
Having visualized the joint state deemed in collision in Studio, it doesn't appear that any obstacle is close enough to the robot to trigger any collision (see attached image). My best guess is that the primitive shape I attached as gripper is (self)-colliding with another link of the robot.
I cannot confirm this hypothesis because I cannot visualize collision shapes in Studio, unfortunately. However, if correct, this would mean that the gripper collision shape and/or its safety margin is not properly handled when generating the IK solution.
Do you have any insight into what is happening?
1 month ago