The objective of my GSoC 2023 project was to enhance the capabilities of the pick_ik
inverse kinematics (IK) solver for MoveIt. My work aimed to improve the solver's documentation, provide benchmarks for performance evaluation, and extend the solver's feature set.
Official pick_ik Tutorial I added an official tutorial for pick_ik to the MoveIt 2 Tutorials repository. This tutorial serves as a guide for users to effectively utilize pick_ik for their IK-solving needs. A pre-configured demo was added in the tutorial to facilitate experimenting with the new pick_ik solver.