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Fix: Stop hangar_sim base pirouette by biasing pick IK yaw #736

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Fix: Stop hangar_sim base pirouette by biasing pick IK yaw #736

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5 changes: 5 additions & 0 deletions src/hangar_sim/config/moveit/pose_ik_distance.yaml
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Expand Up @@ -3,6 +3,11 @@ manipulator:
target_tolerance: 0.001
solve_mode: "optimize_distance"
optimization_timeout: 0.005
# Issue #19973: weight the redundant mobile-base yaw heavily in the seed-distance cost so the IK resolves the
# redundancy toward keeping the base heading near its current value, instead of letting it drift a full revolution
# across consecutive picks. Base translation stays unweighted (free) so the arm can still reach boxes.
seed_distance_joint_names: ["rotational_yaw_joint"]
seed_distance_joint_weights: [10.0]

arm_only:
kinematics_solver: pose_ik_plugin/PoseIKPlugin
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4 changes: 3 additions & 1 deletion src/hangar_sim/objectives/move_boxes_to_loading_zone_from_waypoint.xml
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Expand Up @@ -260,7 +260,9 @@
end_effector_link="grasp_link"
ik_group="manipulator"
ik_timeout_s="0.01"
max_ik_solutions="1"
max_ik_solutions="8"
cost_joint_names="rotational_yaw_joint"
cost_joint_weights="50.0"
monitored_stage="allow collision (gripper, <octomap>)"
target_poses="{grasp_poses}"
task="{task}"
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