Now blocking and reachable in bullet_world_reasoning also use the new IK solver with correct positions for the wrist and correct kinematic chains. They also use the shadow world now.
Furthermore, a few methods now raise an Error instead of returning None. This should improve usablility since the source of an error should be more obvious.
Now blocking and reachable in bullet_world_reasoning also use the new IK solver with correct positions for the wrist and correct kinematic chains. They also use the shadow world now.
Furthermore, a few methods now raise an Error instead of returning None. This should improve usablility since the source of an error should be more obvious.