Unusual behaviour when moving between two references with a blend

[sebandraos]

Prerequisites

• [X] Put an X between the brackets on this line if you have done all of the following:
  • Reproduced the problem in a minimal file that you can share if needed.
  • Checked that your issue isn't already filed: https://github.com/HALRobotics/Beta/issues?utf8=%E2%9C%93&q=is%3Aissue

Description

In the attached file the robot performs an impossible when moving between references with a blend. If the blend (linear and orientation) is set to 0 then the motion is as expected.

Steps to Reproduce

1. Run the solver and preview in the attached file.

Expected behavior: Linear motion between two Cartesian targets on different references.

Actual behavior: Robot moves in the wrong direction and then hits an out of reach position before jumping back to the path.

Reproduces how often: Always when a blend is present

Versions

HAL.McNeel.V5.1.2.20-beta HAL.Core.1.2.22-beta

Additional Information

WorkSurfaceTest.zip includes disabled work around

[sebandraos]

Fixed. Will be in next update