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Minor improvements to SimpleIK and forward kinematics#231

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eholum merged 10 commits into
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ik-base-updates
Jun 4, 2026
Merged

Minor improvements to SimpleIK and forward kinematics#231
eholum merged 10 commits into
mainfrom
ik-base-updates

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@eholum eholum commented Jun 3, 2026 •
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  • Optionally set a base_link in compute forward kinematics
  • Can set and use the base_link in the IK solver, rather than relying on a "root" link
  • Add option to keep iterating until a "best" solution is found in simpleIK

@eholum eholum changed the title Add an optional base_link to forward kinematics Add an optional base_link to forward kinematics, and use base_frame in SimpleIK Jun 3, 2026
@eholum eholum mentioned this pull request Jun 3, 2026
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sea-bass
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Looks good, though the behavior of "return first solution" vs. "use all your time budget to give me the nearest to start seed" should be configurable in the SimpleIkOptions. Can you add that?

@eholum eholum changed the title Add an optional base_link to forward kinematics, and use base_frame in SimpleIK Minor improvements to SimpleIK Jun 4, 2026
@eholum eholum changed the title Minor improvements to SimpleIK Minor improvements to SimpleIK and forward kinematics Jun 4, 2026
@eholum eholum marked this pull request as ready for review June 4, 2026 13:54
sea-bass
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Approving, though now that we have the no fast return option, maybe we should reduce the default max_time from 0.01, which is quite large?

sea-bass
sea-bass reviewed Jun 4, 2026
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Comment thread roboplan_simple_ik/include/roboplan_simple_ik/simple_ik.hpp
sea-bass
sea-bass reviewed Jun 4, 2026
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Comment thread roboplan_simple_ik/bindings/src/simple_ik.cpp Outdated
@eholum eholum merged commit bc7c482 into main Jun 4, 2026
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@eholum eholum deleted the ik-base-updates branch June 4, 2026 19:25
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