I had a discussion with a study colleague about the IK solver. The question was: Does IK need the current joint values to calculate the requested position.
I think it doesn't need it. From my understanding, IK only needs a translation and rotation respected to the e.g. base frame, but no information about the current joint values or e.g. gripper frame for the calculation itself. My study colleague argue that we always give the IK Solver the current joint values through our .msg file and that's right. However, I'm sure that the IK solver doesn't use it for the calculation. Maybe, in case of optimization if it finds more than one possible solution.
Would be nice if anyone can help