Hi Artemii,
I struggled myself on this one a few years ago. It's actually not a motion planning issue !
If I remember well, the UR5 joints can each rotate from -2pi to 2pi, so there is several joint solution to reach the same position.
The problem you have here is that the IK solver does not give you the closest solution to your current joint position. To solve that issue I recommend using [trac_ik](
http://wiki.ros.org/trac_ik) with the option ` solve_type: Distance`
You can see an example here :
https://github.com/kuka-isir/rtt_lwr/blob/rtt_lwr-2.0/lwr_moveit_config/config/kinematics.yaml
Cheers,
Jimmy Da Silva
---
[Visit Topic](
https://discourse.ros.org/t/moveit-motion-planning-issue/7641/2) or reply to this email to respond.
If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates.
______________________________________________________________________________
ros-users mailing list
ros-users@lists.ros.org
http://lists.ros.org/mailman/listinfo/ros-users
Unsubscribe: <
http://lists.ros.org/mailman//options/ros-users>