[Question]: Ik Solving

[cjstahoviak]

Question

I'm a graduate researcher using the px100 for a project that involves the end-effector quickly responding to forces (an FSR has been attached manually to the end-effector).

I'm noticing that a function from the python API set_ee_pose_matrix() fails to converge if a desired pose is too far from the custom_guess, even if this desired pose is certain to be in the manipulators workspace. For example, I'm seeing this happen if the desired pose is about more than 0.05 meters away.

Is this a known issue that has a work around? Should I be using set_ee_cartesian_trajectory() ?

Lastly, our research goal involves the desired_pose changing at around 500hz. In the case that the desired pose has changed while the manipulator is moving, is there a method to cancel the current trajectory/movement mid-action and begin a new trajectory?

Thank you

Robot Model

px100

Operating System

Ubuntu 22.04

ROS Version

ROS 2 Humble

Additional Info

No response