Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/PickNikRobotics/pick_ik.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2022-12-08 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Tyler Weaver
Authors
- Tyler Weaver
pick_ik
pick_ik is an inverse kinematics (IK) solver compatible with MoveIt 2.
The solver is a reimplementation of bio_ik, which combines
* A local optimizer which solves inverse kinematics via gradient descent
* A global optimizer based on evolutionary algorithms
Critically, pick_ik allows you to specify custom cost functions as discussed in this paper, so you can prioritize additional objectives than simply solving inverse kinematics at a specific frame. For example, you can minimize joint displacement from the initial guess, enforce that joints are close to a particular pose, or even pass custom cost functions to the plugin.
If you are familiar with bio_ik, the functionality in this package includes:
* Reimplementation of the memetic solver (equivalent to bio1 and bio2_memetic solvers)
* Reimplementation of the numeric gradient descent solvers (equivalent to gd, gd_r, and gd_c solvers)
* Fully configurable number of threads if using the global solver
* Cost functions on joint displacement, joint centering, and avoiding joint limits
For more details on the implementation, take a look at the paper or the full thesis.
Getting Started
To get started using pick_ik, refer to the following README files:
Changelog for package pick_ik
1.0.0 (2022-12-08)
- pick_ik inverse kinematics plugin compatible with MoveIt 2
- Numeric gradient descent (local) solver
- Memetic algorithm (global solver), configurable for single or multi-threading
- Basic goal functions: joint centering, avoid joint limits, minimal joint displacement
- Support for position-only IK and approximate solutions
- Dynamic parameter switching at runtime using generate_parameter_library <https://github.com/PickNikRobotics/generate\_parameter\_library\>
- Docker devcontainer workflow for VSCode
- Contributors: Chris Thrasher, Sebastian Castro, Tyler Weaver
Wiki Tutorials
Source Tutorials
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | ament_cmake_ros | |
| 1 | moveit_resources_panda_moveit_config | |
| 1 | generate_parameter_library | |
| 3 | moveit_core | |
| 1 | pluginlib | |
| 1 | rclcpp | |
| 1 | rsl | |
| 3 | tf2_geometry_msgs | |
| 3 | tf2_kdl | |
| 1 | tl_expected |