Updates reachabiltiy_validator to check for all tool_frames #129
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…abilty, keeps the retrace pose in mind
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Just tested the PR with the bullet_world_demo/demo, and now he is not opening the drawer for me. |
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Nice find. I can reproduce the error on my side. Will fix |
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I think I found a solution for this problem, which is a bit surprising. The IK Server only finds solutions if the position was given in the world frame? |
Tigul
reviewed
Apr 2, 2024
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Added some documentation strings - should be better now |
mkhoshnam
pushed a commit
to mkhoshnam/pycram
that referenced
this pull request
Nov 26, 2024
Updates reachabiltiy_validator to check for all tool_frames
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Updates the reachability_validator to check all tool_frames for reach ability, keeps the retrace pose in mind