ComputeIK: spawn failures with correct states

Otherwise all failures look correct in the introspection.

That was a stupid oversight at some point.
This commit is contained in:
v4hn 2021-08-21 22:08:25 +02:00
parent ff86217f9a
commit 6b4eae9d51

View File

@ -405,7 +405,7 @@ void ComputeIK::compute() {
// set scene's robot state
robot_state::RobotState& solution_state = solution_scene->getCurrentStateNonConst();
solution_state.setJointGroupPositions(jmg, ik_solutions.back().data());
solution_state.setJointGroupPositions(jmg, ik_solutions[i].data());
solution_state.update();
InterfaceState state(solution_scene);