Use a (thread local) copy of robot state for checking joint bounds instead of a pointer to the same robot state instance.
Since robot state gets modified during bound check, good solutions may have been discarded when using IK in multiple threads concurrently.
Use a (thread local) copy of robot state for checking joint bounds instead of a pointer to the same robot state instance. Since robot state gets modified during bound check, good solutions may have been discarded when using IK in multiple threads concurrently.