From 1d67ec63d09164cc6ae1fffb86e1ea39ac54b3b4 Mon Sep 17 00:00:00 2001 From: Nils Leusmann Date: Thu, 11 Jan 2024 14:35:11 +0100 Subject: [PATCH] After applying the ik reste the robot to its previous state --- src/pycram/pose_generator_and_validator.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/pycram/pose_generator_and_validator.py b/src/pycram/pose_generator_and_validator.py index cc45ad372..a59b73fcf 100644 --- a/src/pycram/pose_generator_and_validator.py +++ b/src/pycram/pose_generator_and_validator.py @@ -155,7 +155,9 @@ def reachability_validator(pose: Pose, # resp = request_ik(base_link, end_effector, target_diff, robot, left_joints) resp = request_ik(target, robot, left_joints, left_gripper) + joint_state_before_ik=robot._current_joint_states _apply_ik(robot, resp, left_joints) + robot.set_joint_states(joint_state_before_ik) for obj in BulletWorld.current_bullet_world.objects: if obj.name == "floor":