jsk_ik_server

IK reachability map

How to use

roscd jsk_ik_server
cd scripts/ik-grid
# bash <robot name>.sh
bash pr2.sh

PR2 IK Evaluation

X-up IK reachability with :rotation-axis :z

Y-up IK reachability with :rotation-axis :z

Z-up IK reachability with :rotation-axis :z

Jaxon IK Evaluation

For more detailed infomation. please read docs/jaxon_ik_evaluation

X-up IK reachability with :rotation-axis :z

Y-up IK reachability with :rotation-axis :z

Z-up IK reachability with :rotation-axis :z

TABLIS IK Evaluation

X-up IK reachability with :rotation-axis :z

Y-up IK reachability with :rotation-axis :z

Z-up IK reachability with :rotation-axis :z

Fetch IK Evaluation

X-up IK reachability with :rotation-axis :z

Y-up IK reachability with :rotation-axis :z

Z-up IK reachability with :rotation-axis :z

Baxter IK Evaluation

X-up IK reachability with :rotation-axis :z

Y-up IK reachability with :rotation-axis :z

Z-up IK reachability with :rotation-axis :z

Changelog for package jsk_ik_server

0.1.17 (2023-05-28)

0.1.16 (2022-10-27)

• [jsk_ik_server] add TABLIS reachability map (#777)
• https://projects.coin-or.org have mved to github (#776)
• [jsk_ik_server] add fetch ik reachability map script (#769)
• avoid zero division ik ik-evaluation.l (#767)
• [jsk_ik_server] add baxter reachability map script (#771)
  • add baxter ik reachability map images in readme
  • add fetch ik reachability map in readme
  • add baxter reachability map
• fix for test (#773)
  • indigo requres to add find_pacakge(roseus) to compile roseus message
  • remove roseus from find_package(catkin at jsk_footstep_planner and jsk_ik_server
• [jsk_ik_server] fix typo in hrp2.sh and pr2.sh (#768)
• [jsk_ik_server] add readme for jsk_ik_server (#772)
• 2to3 -w -fprint . (#763)
• Contributors: Kei Okada, Shingo Kitagawa

0.1.15 (2018-05-16)

0.1.14 (2018-01-15)

0.1.13 (2017-04-18)

0.1.12 (2017-02-22)

0.1.11 (2017-02-09)

0.1.10 (2016-12-15)

• Add centroid method to ik-grid (#636)
  • [wholebody_manipulation_planner] add :centroid method to ik-gird.
  • [jsk_ik_server/euslisp/ik-evaluation.l] fix indent.
• [jsk_ik_server/euslisp/ik-evaluation.l] add fullbody and initial-pose arguments to ik-evaluation. (#602)
• [jsk_ik_server/euslisp] extend IK grid function (#576)
  • [jsk_ik_server/euslisp/ik-evaluation.l] add move-target and orient-centerp arguments to ik-evaluation function.
  • [jsk_ik_server/euslisp/ik-evaluation.l] add :insidep method to ik-grid class.
  • [jsk_ik_server/euslisp/ik-evaluation.l] save cube instance in :cube method.
• Contributors: Masaki Murooka

0.1.9 (2016-03-23)

0.1.8 (2015-11-02)

0.1.7 (2015-11-01)

• [jsk_ik_server] Remove grids which are too near to robot in stand location planning
• [jsk_ik_server] Add script to generate reachability images for pr2 and hrp2
• [jsk_ik_server] Implement Brute-force stand location search.
• [jsk_ik_server] Implement stand location planning with taking into account range of targets
• [jsk_ik_server] Visualize ik-grid by irtviewer
• [jsk_ik_server] Implement stand location planning based on continuous ik grid. Currently only position and mean of pdf is taken into account
• [jsk_ik_server] Fix jaxon_ik_evaluation.md to render properly on github
• [jsk_ik_server] Add markdown to visualize ik-grid evaluate
• [jsk_ik_server] Pretty-printing of progress of generating ik grid like min-max table generation
• [jsk_ik_server/plot_ik_grid.py] Add second argumment to save image file instad of showing plot on GUI
• [jsk_ik_server] Script to visualize reachability in heatmap manner
• [jsk_ik_server] Add ik-evaluation.l to evaluate spacial ik quarity
• Remove manifest.xml and Makefile and use catkin style filesystem
• Contributors: Ryohei Ueda

0.1.6 (2015-06-11)

• add files for jaxonred
• add jaxon to ik_server
• change order in find_pkg

0.1.5 (2015-01-08)

• pass warnp as argument in :fullbody-ik-main
• remove sample robot test
• Merge branch 'master' into update-samplerobot-in-ik-server
• use unix:usleep because hrpsys stops clock
• use hrpsys sample robot for ik server
• Contributors: JSK Lab Member, leus, Yusuke Furuta

0.1.4 (2014-10-21)

• support hrp2jsknts in ik-server
• adding hrp2w-ik-server.l

0.1.3 (2014-10-10)

• add ik-server wait function, in travis, ik-server is slow to start
• install euslisp in share directory
• change ik-server files all exectable
• add :ik-server-name args, smaple robot has name with - charactre
• forbit to use copy-object of link cascoords object

0.1.2 (2014-09-08)

0.1.1 (2014-09-04)

• use singleton class to maintain view point of rviz to have persistency across several plugins
• support multiple instances per one plugin class
• Merge pull request #47 from s-noda/ik_server_publish_default_end_cords ik server publishes posestamped of default-end-coords
• add publish statement of default end coords as posestameped message, frame_id = root-link
• remove needless comments
• Merge branch 'master' of https://github.com/jsk-ros-pkg/jsk_control into ik-server-remote-unused-overwrite
• support jsk_teleop_joy in robot-controller-sample.launch of jsk_ik_server
• remove needless ik-server class definitions
• support other robot, not only staro in robot-controller-sample.launch
• forbit to generate viewer if display missing
• add dependacy on rostes
• remove needless ik-server impl
• add test files and rostest declearation in catkin,cmake and CMakeLists.txt
• remove :cog-convergence-check, :inverse-kinemtiacs-with-error functions
• add sample dir, using spacenav and ik-server, control robot
• add IK_OPTION argument to staro-ik-server-test.launch
• add staro-ik-server.launch
• add IK_OPTION argument to hrp2jsk-ik-server-test.launch
• add additional-ik-options
• added staro specific code for ik-server
• fix usage of cog-convergence-check function, correspond to irtmode.l update
• #9: install moveit_msgs with package.xml for jsk_ik_server
• fix udpate-support-links timing, please call this fucntion after initialization of ik-server
• hand existance check add
• add default-end-coords variable, forbit to use :end-coords statement
• add client_test_with_leg flag, check if support polygon correctly transformed
• fix transformation of support links, convert support polygon to the target coordinate
• fix supprot-link usage, and remove :end-coords
• bug fix, use link name as frame_id
• add configuration dir, but now, not supported yet
• supprot group_name=whole_body, fix-limb='(:rleg :lleg)
• /odom transformation validated without tf
• ik-server transform all coords using robot model and from-id,
• fix name -> link matching, use find-link-from-name funciton
• convert all frame_id to root-link-frame-id slots, if null, convert using robot model
• fix for collision check, add slot variable of defualt collisoin link
• fix the timing of make-convex function, just before call-ik-server
• add some parameter for collision avoidance
• :ik-server-call function support collision-avoidance-link-pair
• all-test.launch add, for test
• added launch/hrp2jsknt-ik-server.launch
• added svn exclude in installation of jsk_ik_server/catkin.cmake
• fix ik-server return joint_State, link names -> joint names
• joint-state message methods check fix, for hydro
• moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION check fix
• bound check for hydro message type change
• assoc hrp2jsknt model hand and wrist
• add link-list arguments, hrp2 model separate into body and hands
• pr2 has no leg limbs
• add some comment, and test programs are changed to use :fix-limbs option
• fix robot link-list slots variable, pr2 had not had gripper links
• remap /solve_ik -> //solve
• fix typo, transfrom -> transform
• multi_dof_joint_States :joint_transforms -> :transform in hydro
• hrp2 ik-server files donot use tf
• multi-6dof-joint-states supported,
• remove viewer arg from :update-joint-states
• comment quaternion usage
• base coords in joint_states, eular angle and quaternion supported
• add slots value ik-server-name and ik-server-service-name to set node name and service name
• add ik-server-call function, this functions can be used just the same as euslisp :fullbody-inverse-kinematics functions
• mv fullbody-ik-client-test.l to test dir and fix some dependancy of test launcher files. please check test launcher files before change configuration
• remove unused require statement
• remove test dependancy from manifest.xml, it's ok? to remove pr2eus and atlashogehoge
• catkinize jsk_ik_server
• make fullbody ik client class for ik server
• add :support-links args, change foot-convex and targe-centroid-pos
• remove unused comment, and some arg name fix
• :fix-limbs '(:limb1 :limb2 .…) supported
• simplyfy :fullbody-ik-main, old versino move to old-ik-server.k
• load only robot model file instead of interface file.
• remove fix-limb-cords slots,
• change ik-server-test.launch for fullbody-ik-client.l
• hrp2jsk-test fucntino add
• change dir configuration, each ik-server.l move to ik-server-impl dir
• add :inverse-kinematics function, causion, to fix pr2 model torso, :torso-fix t :use-torso 0 option needed
• fix ik-server-call function, options has nil list supported
• fix objects usage
• add some test functions
• rename hoge slot variable to hoge
• rename eus-fullbody-ik-ex -> ik-server-util, i think -ex is terrible naming
• remove unused functions
• add old-ik-server, from hrpsys_gazebo_atlas
• change order m -> mm
• joint name convert to string, and robot-model -> cascaded-link
• change euscollada-robot -> robot-model
• add viewer slots in ik-server class, not only irtviewr, but pickview can be used
• remove global variables, usage, generate robot object, and call (ik-server-call :robot )
• move-target, taget-coords, links-list length check add
• change some comment, not so important
• overwrite make-convex function, bacause hrp2 has toe joint
• centroid < convex check add
• additional-weight-list supported,
• bug fix, if target-centrid-pos == null, then not call cog-ceonvergence check
• add base coords to return statement of ik-server
• arrow object in ik-server viewer trach the first coordinamte of target ones
• debug-view flag can be changed
• ik-sever.l validated with fullbody-ik-client.l, but there is a strange change, base link tranformation need to be called twice?(line: 270)
• fullbody-ik-cline.l add, call ik-server with the same argment of euslisp :fullbody-inverse-kinematics functino
• coordinates fix
• fix some key name of ik_request
• add fullbody-inverse-kinematics-service-cb functino, for group_name =:fullbody-inverse-kinematics, not tested
• do not load robot-interface.l , load just model.l
• added hrp2 launch files
• deleted atlas-eus-ik-client.l
• remove arm_navigation_msgs
• add more debug messages
• not load pr2-interface.l, just load model files.
• reverted last commit. added hrp2jsk, hrp2jsknt server programs.
• merge pr2 and atlas ik server
• deleted atlas-eus-ik-client.l : client program is common for all robots.
• use make-foot-convex for humanoid robot
• removed atlas-end-coords.l: this is copy of the file under hrpsys_gazebo_atlas and is not necessary here.
• removed atlas specified files from eus-fullbody-ik-ex.l and ik-server.l
• change fullbody-ik function to class method
• add eus ik server package
• Contributors: Ryohei Ueda, Yohei Kakiuchi, Yusuke Furuta, Kei Okada, Masaki Murooka, Shintaro Noda