INVERSE KINEMATICS REACHABILITY

This example program shows how to use the Inverse Kinematics Service API to make reachability queries for random arm poses.

The example:

Defines desired tool poses randomly distributed across a rectangle in front of the robot, and a small distance above the ground.
Defines a tool frame at the tip of the lower jaw, oriented such that the opening of the gripper will point down when the tool is at one of the desired tool poses.
Formulates an InverseKinematicsRequest for each desired tool pose, such that a solution will provide a configuration that places the tool frame at the desired tool pose, while keeping the feet in their current positions.
Checks the results returned by the IK service:
- For desired tool poses that the IK service deemed reachable, it issues an arm Cartesian move command with the desired body pose set to the one provided by IK.
- For desired tool poses that the IK service deemed un-reachable, it issues an arm Cartesian move with enable_hip_height_assist and enable_body_yaw_assist both set to true.
Prints the true and false positive/negative results.

Run the Example

To run the example, set BOSDYN_CLIENT_USERNAME and BOSDYN_CLIENT_PASSWORD environment variables with the robot credentials and then run:

./inverse_kinematics_reachability {ROBOT_IP} --num_poses {NUM_DESIRED_POSES}