# jsk_ik_server

## IK reachability map

### How to use

```bash
roscd jsk_ik_server
cd scripts/ik-grid
# bash <robot name>.sh
bash pr2.sh
```
### PR2 IK Evaluation

#### X-up IK reachability with `:rotation-axis :z`

![](./data/pr2-xup-iterate009-concatenated.png)
![](./data/pr2-xup-iterate009.csv.png)

#### Y-up IK reachability with `:rotation-axis :z`

![](./data/pr2-yup-iterate009-concatenated.png)
![](./data/pr2-yup-iterate009.csv.png)

#### Z-up IK reachability with `:rotation-axis :z`

![](./data/pr2-zup-iterate009-concatenated.png)
![](./data/pr2-zup-iterate009.csv.png)

### Jaxon IK Evaluation

For more detailed infomation. please read [docs/jaxon_ik_evaluation](docs/jaxon_ik_evaluation.md)

#### X-up IK reachability with `:rotation-axis :z`

![](./data/jaxon-xup-iterate009-concatenated.png)
![](./data/jaxon-xup-iterate009.csv.png)

#### Y-up IK reachability with `:rotation-axis :z`

![](./data/jaxon-yup-iterate009-concatenated.png)
![](./data/jaxon-yup-iterate009.csv.png)

#### Z-up IK reachability with `:rotation-axis :z`

![](./data/jaxon-zup-iterate009-concatenated.png)
![](./data/jaxon-zup-iterate009.csv.png)

### TABLIS IK Evaluation

#### X-up IK reachability with `:rotation-axis :z`

![](./data/tablis-xup-iterate009-concatenated.png)
![](./data/tablis-xup-iterate009.csv.png)

#### Y-up IK reachability with `:rotation-axis :z`

![](./data/tablis-yup-iterate009-concatenated.png)
![](./data/tablis-yup-iterate009.csv.png)

#### Z-up IK reachability with `:rotation-axis :z`

![](./data/tablis-zup-iterate009-concatenated.png)
![](./data/tablis-zup-iterate009.csv.png)

### Fetch IK Evaluation

#### X-up IK reachability with `:rotation-axis :z`

![](./data/fetch-xup-iterate009-concatenated.png)
![](./data/fetch-xup-iterate009.csv.png)

#### Y-up IK reachability with `:rotation-axis :z`

![](./data/fetch-yup-iterate009-concatenated.png)
![](./data/fetch-yup-iterate009.csv.png)

#### Z-up IK reachability with `:rotation-axis :z`

![](./data/fetch-zup-iterate009-concatenated.png)
![](./data/fetch-zup-iterate009.csv.png)

### Baxter IK Evaluation

#### X-up IK reachability with `:rotation-axis :z`

![](./data/baxter-xup-iterate009-concatenated.png)
![](./data/baxter-xup-iterate009.csv.png)

#### Y-up IK reachability with `:rotation-axis :z`

![](./data/baxter-yup-iterate009-concatenated.png)
![](./data/baxter-yup-iterate009.csv.png)

#### Z-up IK reachability with `:rotation-axis :z`

![](./data/baxter-zup-iterate009-concatenated.png)
![](./data/baxter-zup-iterate009.csv.png)
