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Hey there guys, I am working on a Baxter and ROS Groovy. I want to make the arm move from point A to point B while keeping the wrist joint fixed. I tried this with the IK Service but it messes up the wrist joint by moving it as well. Any suggestions on how can I make the arm move from point A to B with a fixed wrist joint ? Please help !!!


Originally posted by ktiwari9 on ROS Answers with karma: 61 on 2014-06-09

Post score: 1

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What you request could be achieved using a cartesian path (if you can move between points in a straight line or can already generate some sort of cartesian waypoints) or using constraints while planning using MoveIt!. The latter (using constraints) was not completely implemented last time I read about it. For cartesian planning, this answer is pretty comprehensive.


Originally posted by Stefan Kohlbrecher with karma: 24361 on 2014-06-09

This answer was ACCEPTED on the original site

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