Yuan

blackjack1815 ·

Thank you for your solution.
We fixed the problem after we change the code to:

print "Start fails", space.cspace.feasibilityFailures(space.project(qstart))
    print "Goal fails", space.cspace.feasibilityFailures(space.project(qgoal))

and

plann...

Sure. Firstly, the constraint:

obj2 = ik.fixed_rotation_objective(robot.link(6), world_axis=[0, 1, 0])

is not necessary, we only add constraints:

obj1 = ik.fixed_rotation_objective(robot.link(6), world_axis=[1, 0, 0])

Constraint obj1 alre...