Improved RobotState feedback for setFromIK() #342
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+1 merging. Could you please backport this to i/j? |
davetcoleman
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davetcoleman
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Done |
JafarAbdi
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When using
setFromIKSubgroups()it is actually tricky because the ordering of poses and tips must correspond exactly to the ordering of subgroups in a planning group in your SRDF. A much larger change is required to fix this sloppy API, but this PR simply adds better debug info to allow users to work around it easier.Also, this PR makes it easier to understand why a group like "both_arms" might have more than just two subgroups "left_arm" "right_arm" but also for example "left_arm_6dof" etc