twins-planner issueshttps://code.research.uts.edu.au/bigprint/twins-planner/-/issues2020-12-07T17:48:23+11:00https://code.research.uts.edu.au/bigprint/twins-planner/-/issues/13IKFast returns no solution in degenrate cases2020-12-07T17:48:23+11:00Jayant KhatkarIKFast returns no solution in degenrate casesIKFast solver returns no solution in degenerate cases.
If no solutions found, need to try 2 or 3 close solutions (e.g. vary the orientation by 1deg) befoer confirming failed IK.IKFast solver returns no solution in degenerate cases.
If no solutions found, need to try 2 or 3 close solutions (e.g. vary the orientation by 1deg) befoer confirming failed IK.Jayant KhatkarJayant Khatkarhttps://code.research.uts.edu.au/bigprint/twins-planner/-/issues/32Plan verifies that it is continuous2020-12-18T08:18:28+11:00Jayant KhatkarPlan verifies that it is continuousPlan verification only involves collision checks - also need to check that joints can be traveled to in the specified time - i.e. that trajectories are continuous.Plan verification only involves collision checks - also need to check that joints can be traveled to in the specified time - i.e. that trajectories are continuous.Jayant KhatkarJayant Khatkar