A few forward ports from MoveIt1 #2920
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* Prevent segfault when getParentLinkModel() is NULL * Simpliy code * Add unit test operating the panda gripper --------- Co-authored-by: Captain Yoshi <[email protected]>
As the CHOMP planner only considers active joints, it needs to use setJointGroupActivePositions() instead of setJointGroupPositions().
Don't recreate the FCL object when moving shapes, but just update its transforms.
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The rolling build fails due to a new deprecation, which should be handled by a separate commit. |
sea-bass
approved these changes
Aug 2, 2024
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Fixes #2911 (OMPL part)