KDL's joint-limited pseudoinverse Jacobian implementation is the solver used by various ROS packages and MoveIt! for generic manipulation chains. Additionally, TRAC-IK allows for error tolerances to be set independently for each Cartesian dimension (x, y, z, roll, pitch & yaw).ĭetailed usage instructions can be found at traclabs/trac_ik.git (or more specifically, trac_ik_kinematics_plugin/README.md). TRAC-IK has a very similar API to KDL's IK solver calls, except that the user passes a maximum time instead of a maximum number of search iterations. Sources - including a MoveIt! compatible IK plugin - can be found at: traclabs/trac_ik.git. TRAC-IK is a faster, significantly more reliable drop-in replacement for KDL's pseudoinverse Jacobian solver. TRAC-IK handles joint-limited chains better than KDL The ROS packages in this repository were created to provide an improvedĪlternative Inverse Kinematics solver to the popular inverse Jacobian
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