IKFast returns no solution in degenrate cases
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.
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.