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krishauser / Klampt

Kris' Locomotion and Manipulation Planning Toolkit
BSD 3-Clause "New" or "Revised" License
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Python API: Calling robotplanning.planToCartesianObjective fails because `q0` is not a valid argument for MotionPlan's constructor. #123

Closed cedriclmenard closed 2 years ago

cedriclmenard commented 2 years ago

Calling robotplanning.planToCartesianObjective with valid parameters and plan options fails because the second argument of MotionPlan's constructor should not be q0, but type for the type of solver to use. This specific line is the culprit.

planToConfig implements it correctly by not passing q0 as an argument to the constructor. See this line.

The fix: remove q0 from the constructor call, as it is not used. The endpoints are set latter in the function implementation.

This affects the devel branch too. I'll try and make a pull request.

cedriclmenard commented 2 years ago

Made a PR with the fix #124

cedriclmenard commented 2 years ago

This issue is solved with the merged PR.