Use the full time available when solution callback fails#21
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timonegk wants to merge 1 commit intoPickNikRobotics:ros2from
Open
Use the full time available when solution callback fails#21timonegk wants to merge 1 commit intoPickNikRobotics:ros2from
timonegk wants to merge 1 commit intoPickNikRobotics:ros2from
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This pull request changes the behavior of BioIK when the solution callback fails. Instead of failing the IK call, the solver is restarted with a random seed as long as there is still time available. The same approach is also used by MoveIt's KDL plugin (see here).