Fix Pilz planner: consider link_name offset during IK computation#3523
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rhaschke merged 2 commits intomoveit:masterfrom Nov 12, 2023
Merged
Fix Pilz planner: consider link_name offset during IK computation#3523rhaschke merged 2 commits intomoveit:masterfrom
rhaschke merged 2 commits intomoveit:masterfrom
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Partially reverts changes of moveit#2890
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## master #3523 +/- ##
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+ Coverage 61.84% 61.88% +0.04%
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Files 385 385
Lines 34109 34106 -3
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+ Hits 21093 21102 +9
+ Misses 13016 13004 -12
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Implement #3519 (comment):
Trajectory generation needs to use the actual link_name's (and its offset's) start and goal pose in order to realize a straigh-line motion. We must not back-project the offset to the associated robot link. Instead, we need to consider the offset during computation of the IK. I implemented this for the CartesianInterpolator in #3197.
Unfortunately, the unit tests don't cover those cases yet - they only consider the final goal pose, but don't check the path in between 😞
broken.mp4
fixed.mp4