No valid solution found within joint limits after unit fix

roboticslab-uc3m / kinematics-dynamics

Kinematics and dynamics solvers and controllers.

https://robots.uc3m.es/kinematics-dynamics/

GNU Lesser General Public License v2.1

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No valid solution found within joint limits after unit fix #172

Closed PeterBowman closed 5 years ago

PeterBowman commented 5 years ago

Alleged regression triggered by https://github.com/roboticslab-uc3m/kinematics-dynamics/commit/0b1a909a957405e2816f29791f0fa10ecbb26b81. I noticed that YARP uses degrees, hence feeding those values to KDL didn't make much sense. Following that commit and the degrees-to-radians conversion, Screw Theory solvers fail to find a solution within joint limits (as provided by OR models) although the motion would succeed regardless. Not tested with other solvers.

PeterBowman commented 5 years ago

The offending commit has been temporarily reverted.