Create fast way to do FK and IK in moveit or pybullet
Options:
-
Use moveIt rosservice (ideal as it doesnt require adding any more components but could be slow)too slow and not providing multiple solutions -
Use pybullet IKnot multiple solutions - Create OpenRAVE
ikfast.cpp
and use python wrapper around it (see comment below)
Also, could IKfast or tracIK for improved speed in IK results of MoveIt