Fix bug on joint-move-over-180 with tm :fast #422
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@k-okada Can I ask for a review? |
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Can we add test code to catch this? |
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@k-okada Added. |
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@k-okada Tests pass/fail as expected. Can we merge this? |
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On pr2, calls to
:angle-vectorwith time as:fastlead tonumber expectederrors when:check-continuous-joint-move-over-180is true.This PR avoids this by setting all the sub-times as
:fastin this case.